• Corpus ID: 17795926

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

@inproceedings{Kapusta2016CollaborationBA,
  title={Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities},
  author={Ariel Kapusta and Yash Chitalia and Daehyung Park and Charles C. Kemp},
  year={2016}
}
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) robotic bed moves the person’s body and uses a pressure sensing mat to estimate the body’s position. The mobile manipulator positions itself with respect to the bed and compliantly moves a lightweight object with one of its 7-DoF arms. The system optimizes its motions with respect… 

Figures and Tables from this paper

A system for bedside assistance that integrates a robotic bed and a mobile manipulator

Overall, the results suggest that a robotic bed and a mobile manipulator can work collaboratively to provide effective personal assistance and that the combination of the two robots is beneficial.

Personalized collaborative plans for robot-assisted dressing via optimization and simulation

Overall, this work demonstrates the feasibility of generating personalized plans for robot-assisted dressing via optimization and physics-based simulation.

Task-centric optimization of configurations for assistive robots

This work presents task-centric optimization of robot configurations (TOC), which is an algorithm that finds configurations from which the robot can better reach task-relevant locations and handle task variation.

Estimating 3D Human Pose on a Configurable Bed from a Single Pressure Image

Two convolutional neural networks are presented to estimate the 3D joint positions of a person in a configurable bed from a single pressure image and a demonstration in which a mobile manipulator uses the network's estimated kinematic model to reach a location on a person's body in spite of the person being seated in a bed and covered by a blanket.

3D Human Pose Estimation on a Configurable Bed from a Pressure Image

Two convolutional neural networks are presented to estimate the 3D joint positions of a person in a configurable bed from a single pressure image and a demonstration in which a mobile manipulator uses the network's estimated kinematic model to reach a location on a person's body in spite of the person being seated in a bed and covered by a blanket.

References

SHOWING 1-10 OF 40 REFERENCES

Assistive mobile manipulation for self-care tasks around the head

A proof-of-concept system that has enabled a person with severe quadriplegia named Henry Evans to shave himself in his own home using a general purpose mobile manipulator (PR2 from Willow Garage) is presented.

Towards Assistive Feeding with a General-Purpose Mobile Manipulator

A proof-of-concept robotic system for assistive feeding that consists of a Willow Garage PR2, a high-level web-based interface, and specialized autonomous behaviors for scooping and feeding yogurt and a new version of the multimodal anomaly detection system outperformed prior versions.

Optimization of Robot Configurations for Assistive Tasks

TOC builds upon previous work, Taskcentric initial Configuration Selection (TCS), addressing some of the limitations of TCS, and notable alterations are selecting configurations from the continuous configuration space using a Covariance Matrix Adaptation Evolution strategy, introducing a joint-limit-weighted manipulability term, and changing the framework to move all optimization offline and using function approximation at run-time.

Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance

A novel system with a custom controller and whole-arm tactile sensor array that enables a Willow Garage PR2 to regulate contact forces across its entire arm while moving its end effector to a commanded pose is presented.

Towards an assistive robot that autonomously performs bed baths for patient hygiene

This paper describes the design and implementation of a behavior that allows a robot with a compliant arm to perform wiping motions that are involved in bed baths. A laser-based operator-selection

Using a model of the reachable workspace to position mobile manipulators for 3-d trajectories

An approach is presented that computes placements for a mobile manipulator online given a task-related 3-d trajectory and a discrete representation of the robot arm's reachable workspace is used.

ProVAR assistive robot system architecture

  • H. V. D. LoosJ. Wagner O. Khatib
  • Computer Science
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
This paper describes the implementation of a robot control architecture designed to combine a manipulation task design environment with a motion controller that uses the operational space formulation

Task-centric selection of robot and environment initial configurations for assistive tasks

Task-centric initial Configuration Selection (TCS), which unlike previous work uses a measure of task-centric manipulability to accommodate state estimation error, considers various environmental degrees of freedom, and can find a set of configurations from which a robot can perform a task.

SAM: A robotic butler for handicapped people

This article presents a service robotic system for disabled people that grasps any textured object in an apartment-like environment through a DPWS layer, providing an efficient solution for sharing data between any device of an intelligent home.

Robots for Humanity : A Case Study in Assistive Mobile Manipulation

A collaborative project with the goal of putting assistive mobile manipulators into real homes to work with people with disabilities through a participatory design process in which users have been actively involved from day one.