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

We propose Synchronous Dual-Arm Rearrangement Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange…

Datasets sourced from people with disabilities and older adults play an important role in innovation, benchmarking, and mitigating bias for both assistive and inclusive AI-infused applications. However, they are scarce. We conduct a…

In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…

For the planning of large pedestrian facilities, the movement of pedestrians in various situations has to be modelled. Many tools for pedestrian planning are based on cellular automata (CA), discrete in space and time, some use self driven…

Despite the growing potential of older adult care technologies, the adoption of these technologies remains challenging. In this work, we conducted a focus-group session with family caregivers to scope designs of the older adult care…

Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…

Seniors residing in rural areas often encounter limited accessibility to opportunities, resources, and services. This paper introduces a model proposing that both aging and rural residency are factors contributing to the restricted…

In this letter, a paradigm for the classification and manipulation of previously unseen objects is established and demonstrated through a real example of chairs. We present a novel robot manipulation method, guided by the understanding of…

This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…

Loss of Mobility is a common handicap to senior citizens. It denies them the ease of movement they would like to have like outdoor visits, movement in hospitals, social outgoings, but more seriously in the day to day in-house routine…

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…

A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…

Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…

Consideration of physical dimensions of the user population is essential to design adapted environment. This variability in body dimensions (called "anthropometry") is involved in design tools commonly used today to assess user's…

In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…

Older users population is rapidly increasing all over the World. Presently, we observe efforts in the human-computer interaction domain aiming to improve life quality of age 65 and over through the use of mobile apps. Nonetheless, these…

Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…

Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…

We present results of a replication study on smartwatch visualizations with adults aged 65 and older. The older adult population is rising globally, coinciding with their increasing interest in using small wearable devices, such as…

Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…