Browsing RERC TechSAge Publications by Issue Date

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 ...

The Smart Bathroom: UD through Integrating Physical and Digital Worlds

Sanford, Jon A.; Jones, Brian (Georgia Institute of Technology, 2014)

Although the abilities of people with disabilities are diverse, many accessible toilets are fixed. As a result, they can only support some abilities some of the time. The purpose of this project is to develop a smart ...

Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments

Park, Daehyung; Kapusta, Ariel; Hawke, Jeffrey; Kemp, Charles C. (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 ...

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 ...

Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter

Park, Daehyung; Kapusta, Ariel; Kim, You Keun; Rehg, James M.; Kemp, Charles C. (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 ...

Understanding the Role of Technology for Meeting the Support Needs of Older Adults in the USA with Functional Limitations

Harrington, Christina N.; Mitzner, Tracy L.; Rogers, Wendy A. (Georgia Institute of Technology, 2015)

Moving In Out and Around the Home: Solutions from Older Adults with Long-term Mobility Impairment

Gonzalez, Elena; Fausset, Cara; Foster, Amanda; Cha, Grace; Fain, W. Brad (Georgia Institute of Technology, 2015-06)

The purpose of this study was to explore how older adults aging with long-term mobility impairment have adapted to mobility challenges in the home. Through in-home interviews, participants discussed their experience moving ...

TechSAge Minimum Battery: Overview of Measures

Gonzalez, Elena T.; Mitzner, Tracy L.; Sanford, Jon A.; Rogers, Wendy A. (Georgia Institute of Technology, 2016)

A Model that Predicts the Material Recognition Performance of Thermal Tactile Sensing

Bhattacharjee, Tapomayukh; Bai, Haoping; Chen, Haofeng; Kemp, Charles C. (2016)

Tactile sensing can enable a robot to infer properties of its surroundings, such as the material of an object. Heat transfer based sensing can be used for material recognition due to differences in the thermal properties ...

Optimization of Robot Configurations for Assistive Tasks

Kapusta, Ariel; Kemp, Charles C. (Georgia Institute of Technology, 2016)

Robots can provide assistance with activities of daily living (ADLs) to humans with motor impairments. Specialized robots, such as desktop robotic feeding systems, have been successful for specific assistive tasks when ...

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. ...

Analysis Of The Effect Of A Rear Wall Grab Bar Configuration On The Fall Risk Associated With Toilet Transfers In Older Adults With Mobility Impairment

Sanath, Achyuthkumar A.; Mahajan, Harshal P.; Gonzalez, Elena; Sanford, Jon A.; Fain, W. Brad (RESNA/NCART, 2016)

Twenty-three older adults were recruited for a two-hour in-home study. As a part of the process, the researchers asked questions regarding their process for toilet transfer, asked to provide ratings about toilet transfer ...

Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities

Kapusta, Ariel; Chitalia, Yash; Park, Daehyung; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-08)

We present a robotic system designed to provide physical assistance to a person in bed. The system consists of a robotic bed (Autobed) and a mobile manipulator (PR2) that work together. The 3 degree-of-freedom (DoF) ...