A framework for planning comfortable and customizable motion of an assistive mobile robot

Gulati, Shilpa; Jhurani, Chetan; Kuipers, Benjamin; Longoria, Raul G.

doi:10.1109/iros.2009.5354172

Cited by 34 publications

(24 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In an attempt to construct more realistic cost functions, others inspired by design research incorporate a measure of “discomfort” into the optimization cost function [15]. However, the specific form of the cost function is domain dependent and is not generalizable to other assistive devices such as robotic arms.…”

Section: Related Workmentioning

confidence: 99%

Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics

Gopinath

Jain

Argall

2017

IEEE Robot. Autom. Lett.

143

View full text Add to dashboard Cite

In this paper, we propose a mathematical framework which formalizes user-driven customization of shared autonomy in assistive robotics as a nonlinear optimization problem. Our insight is to allow the end-user, rather than relying on standard optimization techniques, to perform the optimization procedure, thereby allowing us to leave the exact nature of the cost function indeterminate. We ground our formalism with an interactive optimization procedure that customizes control sharing using an assistive robotic arm. We also present a pilot study that explores interactive optimization with end-users. This study was performed with 17 subjects (4 with spinal cord injury, 13 without injury). Results show all subjects were able to converge to an assistance paradigm, suggesting the existence of optimal solutions. Notably, the amount of assistance was not always optimized for task performance. Instead, some subjects favored retaining more control during the execution over better task performance. The study supports the case for user-driven customization and provides guidance for its continued development and study.

show abstract

Section: Related Workmentioning

confidence: 99%

Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics

Gopinath

Jain

Argall

2017

IEEE Robot. Autom. Lett.

143

View full text Add to dashboard Cite

show abstract

“…How to generate appropriate motion trajectories also is a topic of interest-for example, trajectories that take into account human comfort (115) or social considerations such as how to pass a pedestrian (116).…”

Section: System Design and Autonomy Behaviorsmentioning

confidence: 99%

Autonomy in Rehabilitation Robotics: An Intersection

Argall

2018

Annu. Rev. Control Robot. Auton. Syst.

View full text Add to dashboard Cite

Within the field of human rehabilitation, robotic machines are used both to rehabilitate the body and to perform functional tasks. Robotics autonomy that would enable perception of the external world and reasoning about high-level control decisions, however, is seldom present in these machines. For functional tasks in particular, autonomy could help to decrease the operational burden on the human and perhaps even increase access, and this potential only grows as human motor impairments become more severe. There are, however, serious and often subtle considerations for incorporating clinically feasible robotics autonomy into rehabilitation robots and machines. Today, the fields of robotics autonomy and rehabilitation robotics are largely separate, and the topic of this article is at the intersection of these fields: the incorporation of clinically feasible autonomy solutions into rehabilitation robots and the opportunities for autonomy within the rehabilitation domain.

show abstract

“…The concept of "comfort" has already appeared in the literature with different meanings: 1) comfort of the AP when navigating using a robotic platform [17,29] and 2) comfort of the humans in the area surrounding an autonomous robot [22]. Our notion of comfort belongs to the first class and it is deeply rooted in the requirement analysis and in the validation activities with senior users that we have been conducting in the context of the DALi and of the ACANTO projects.…”

Section: Global Constraints and Preferencesmentioning

confidence: 99%

Efficient customisable dynamic motion planning for assistive robots in complex human environments

Colombo

Fontanelli

Legay

et al. 2015

AIS

View full text Add to dashboard Cite

Abstract. People with impaired physical and mental ability often find it challenging to negotiate crowded or unfamiliar environments, leading to a vicious cycle of deteriorating mobility and sociability. To address this issue we present a novel motion planning algorithm that is able to intelligently deal with crowded areas, permanent or temporary anomalies in the environment (e.g., road blocks, wet floors) as well as hard and soft constraints (e.g., "keep a toilet within reach of 10 meters during the journey", "always avoid stairs"). Constraints can be assigned a priority tailored on the user's needs. The planner has been validated by means of simulations and experiments with elderly people within the context of the DALi European project.

show abstract

A framework for planning comfortable and customizable motion of an assistive mobile robot

Cited by 34 publications

References 25 publications

Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics

Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics

Autonomy in Rehabilitation Robotics: An Intersection

Efficient customisable dynamic motion planning for assistive robots in complex human environments

Contact Info

Product

Resources

About