相关论文: Understanding Shared Control for Assistive Robotic…
Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…
Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this -- recruitment challenges,…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
Recent works on shared autonomy and assistive-AI technologies, such as assistive robot teleoperation, seek to model and help human users with limited ability in a fixed task. However, these approaches often fail to account for humans'…
Many people with upper-body motor impairments encounter challenges while performing Activities of Daily Living (ADLs) and Instrumental Activities of Daily Living (IADLs), such as toileting, grooming, and managing finances, which have…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Robots hold significant promise to assist with providing care to an aging population and to help overcome increasing caregiver demands. Although a large body of research has explored robotic assistance for individuals with disabilities and…
While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…
Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…