相关论文: WheelArm-Sim: A Manipulation and Navigation Combin…

This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…

Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…

Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…

Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such simulators is hindered by the lack of parallelized high-level…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

Integrated control of wheelchairs and wheelchair-mounted robotic arms (WMRAs) has strong potential to increase independence for users with severe motor limitations, yet existing interfaces often lack the flexibility needed for intuitive…

Retention of residual skills for persons who partially lose their cognitive or physical ability is of utmost importance. Research is focused on developing systems that provide need-based assistance for retention of such residual skills.…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…

Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…

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…

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…

The advancements in embodied AI are increasingly enabling robots to tackle complex real-world tasks, such as household manipulation. However, the deployment of robots in these environments remains constrained by the lack of comprehensive…

Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…

Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…

Synthetic simulation data and real-world human data provide scalable alternatives to circumvent the prohibitive costs of robot data collection. However, these sources suffer from the sim-to-real visual gap and the human-to-robot embodiment…

Existing pose estimation models perform poorly on wheelchair users due to a lack of representation in training data. We present a data synthesis pipeline to address this disparity in data collection and subsequently improve pose estimation…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

This paper presents an Artificial Intelligence (AI) integrated approach to Brain-Computer Interface (BCI)-based wheelchair development, utilizing a motor imagery right-left-hand movement mechanism for control. The system is designed to…

Detecting and interpreting operator actions, engagement, and object interactions in dynamic industrial workflows remains a significant challenge in human-robot collaboration research, especially within complex, real-world environments.…