相关论文: A Data-Driven Approach to Positioning Grab Bars in…

Wayfinding in complex indoor environments is often challenging for older adults due to declines in navigational and spatial-cognition abilities. This paper introduces NavMarkAR, an augmented reality navigation system designed for…

Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…

Coronary artery disease, heart failure, angina pectoris and diabetes are among the leading causes of morbidity and mortality over the globe. Susceptibility to such disorders is compounded by changing lifestyles, poor dietary routines, aging…

Surface electromyography (s-EMG) sensors are a promising way to control upper-limb prostheses. However a training session is necessary in order to set up the controller that will make s-EMG based movement possible. All data recorded during…

Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…

This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…

The majority of Americans fail to achieve recommended levels of physical activity, which leads to numerous preventable health problems such as diabetes, hypertension, and heart diseases. This has generated substantial interest in monitoring…

Acquiring an anatomical map from position data is important for medical applications where catheters interact with soft tissues. To improve autonomous navigation in these settings, we require information beyond nonparametric maps typically…

Maintaining an upright stance represents a complex task, which is achieved by integrating sensory information from the visual, vestibular and somatosensory systems. When one of these sensory inputs becomes unavailable and/or inaccurate…

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…

Seniors represent a growing user base for mobile applications; however, many apps fail to adequately address their accessibility challenges and usability preferences. To investigate this issue, we conducted an exploratory focus group study…

This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…

Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…

The increasing number of older adults who experience cognitive decline places a burden on informal caregivers, whose support with tasks of daily living determines whether older adults can remain in their homes. To explore how agents might…

Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…

Virtual displays provided through head-worn displays (HWDs) offer users large screen space for productivity, but managing this space effectively presents challenges. This paper explores how to enhance window-switching strategies for virtual…

Recent research has focused on the risks associated with poor sitting posture and the impact of sitting on biological parameters, such as heart rate because prolonged sitting is common across all ages and professions. In this work, we…

Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…

The increasing population of elderly people is associated with the need to meet their increasing requirements and to provide solutions that can improve their quality of life in a smart home. In addition to fear and anxiety towards…