• Assistive Mobile Manipulation for Self-Care Tasks Around the Head 

      Hawkins, Kelsey P.; Grice, Phillip M.; Chen, Tiffany L.; King, Chih-Hung; Kemp, Charles C. (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 ...
    • Autobed: Open Hardware for Accessible Web-based Control of an Electric Bed 

      Grice, Phillip M.; Chitalia, Yash; Rich, Megan; Clever, Henry M.; Kemp, Charles C. (Georgia Institute of Technology, 2016)
      Individuals with severe motor impairments often have difficulty operating the standard controls of electric beds and so require a caregiver to adjust their position for utility, comfort, or to prevent pressure ulcers. ...
    • In-home and remote use of robotic body surrogates by people with profound motor deficits 

      Grice, Phillip M.; Kemp, Charles C. (PLOS One, 2019-03)
      By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is ...
    • A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning 

      Bhattacharjee, Tapomayukh; Grice, Phillip M.; Kapusta, Ariel; Killpack, Marc D.; Park, Daehyung; Kemp, Charles C. (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 ...