Healthcare Robotics Lab
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Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)Online detection of anomalous execution can be valuable for robot manipulation, enabling robots to operate more safely, determine when a behavior is inappropriate, and otherwise exhibit more common sense. By using ... -
Towards Assistive Feeding with a General-Purpose Mobile Manipulator
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a ... -
A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object ... -
Finding and Navigating to Household Objects with UHF RFID Tags by Optimizing RF Signal Strength
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)We address the challenge of finding and navigating to an object with an attached ultra-high frequency radio- frequency identification (UHF RFID) tag. With current off-the- shelf technology, one can affix ... -
Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)Often in highly-cluttered environments, a robot can observe the exterior of the environment with ease, but cannot directly view nor easily infer its detailed internal structure (e.g., dense ... -
Inferring Object Properties from Incidental Contact with a Tactile-Sensing Forearm
(Georgia Institute of Technology, 2014-09)Whole-arm tactile sensing enables a robot to sense properties of contact across its entire arm. By using this large sensing area, a robot has the potential to acquire useful information from incidental contact that ... -
Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)We present a new method for reaching in an initially unknown environment with only haptic sensing. In this paper, we propose a haptically-guided interleaving planning and control (HIPC) method with a haptic mapping ... -
Assistive Mobile Manipulation for Self-Care Tasks Around the Head
(Georgia Institute of Technology, 2014)Human-scale mobile robots with arms have the potential to assist people with a variety of tasks. We present a proof-of-concept system that has enabled a person with severe quadriplegia named Henry Evans to shave himself ... -
Informing Assistive Robots with Models of Contact Forces from Able-Bodied Face Wiping and Shaving
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)Hygiene and feeding are activities of daily living (ADLs) that often involve contact with a person's face. Robots can assist people with motor impairments to perform these tasks by holding a tool that makes contact with ... -
Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)In this paper, we demonstrate data-driven inference of mechanical properties of objects using a tactile sensor array (skin) covering a robot's forearm. We focus on the mobility (sliding vs. fixed), compliance (soft vs. ... -
The Wouse: A Wearable Wince Detector to Stop Assistive Robots
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)Persons with severe motor impairments depend heavily upon caregivers for the performance of everyday tasks. Ongoing work is exploring the potential of giving motor-impaired users control of semi-autonomous assistive mobile ... -
ROS Commander (ROSCo): Behavior Creation for Home Robots
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)We introduce ROS Commander (ROSCo), an open source system that enables expert users to construct, share, and deploy robot behaviors for home robots. A user builds a behavior in the form of a Hierarchical Finite State Machine ... -
In-Hand Radio Frequency Identification (RFID) for Robotic Manipulation
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed ... -
Reaching in clutter with whole-arm tactile sensing
(Georgia Institute of TechnologySage, 2013-04)Clutter creates challenges for robot manipulation, including a lack of non-contact trajectories and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole-arm tactile sensing to perceive ... -
Improving robot manipulation with data-driven object-centric models of everyday forces
(Georgia Institute of TechnologySpringer Verlag, 2013-06)Based on a lifetime of experience, people anticipate the forces associated with performing a manipulation task. In contrast, most robots lack common sense about the forces involved in everyday manipulation tasks. In this ... -
An investigation of responses to robot-initiated touch in a nursing context
(Georgia Institute of TechnologySpringer Verlag, 2013-10)Physical human-robot interaction has the potential to be useful in a number of domains, but this will depend on how people respond to the robot’s actions. For some domains, such as healthcare, a robot is likely to initiate ... -
Autonomously learning to visually detect where manipulation will succeed
(Georgia Institute of TechnologySpringer Verlag, 2013-09)Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. We present methods that ... -
Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector ... -
Tactile Sensing over Articulated Joints with Stretchable Sensors
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)Biological organisms benefit from tactile sensing across the entire surfaces of their bodies. Robots may also be able to benefit from this type of sensing, but fully covering a robot with robust and capable tactile sensors ... -
Older Adults Medication Management in the Home: How can Robots Help?
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-03)Successful management of medications is critical to maintaining healthy and independent living for older adults. However, medication non-adherence is a common problem with a high risk for severe consequences [5], which can ...
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