A Human-assistive Robotic Platform with Quadrupedal Locomotion

Shen, Tao; Afsar, Rayhan; Haque, Rejwanul; McClain, Eric; Meek, Sanford G.; Shen, Xiangrong

doi:10.1109/icorr.2019.8779398

Cited by 4 publications

(3 citation statements)

References 20 publications

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“…With an increase in the percentage of people with some form of disability [7][8][9][10], assistive mobility has become an important aspect of research and has gained a lot of attention from researchers in recent years. Mobility has to do with an individual's ability to move his or her body within an environment and the ability to manipulate objects.…”

Section: Smart Health Care and Assistive Mobilitymentioning

confidence: 99%

Adaptability of Assistive Mobility Devices and the Role of the Internet of Medical Things: Comprehensive Review (Preprint)

Oladele¹,

Markus²,

Abu‐Mahfouz³

2021

Preprint

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UNSTRUCTURED With the projected upsurge in the percentage of persons with some form of disability, there is a significant increase in the need for assistive mobility devices. However, these mobility aids are hardly effective without their ability to adapt to the user’s needs. This is achieved by improving the confidence of the information used or interaction between the user and his device also referred to as adaptation. In the recent past, there has been little effort to provide literature reviews on the adaptability of assistive mobility devices (AMDs). This paper systematically reviews the recent assistive mobility technologies, over the past decade, according to their adaptation and the role that the Internet of Medical Things (IoMT) has played in the adaptability of these technologies. The information gathered in the study provides awareness of the status of adaptive mobility technology and serves as a source and reference of information to healthcare professionals, and researchers. The paper starts by highlighting recent technologies according to the user system interface (human/device interface), then presents some recent technologies in perception and sensor fusion (autonomous navigation) for adaptability, and finally, IoMT frameworks for AMDs. Some notable limitations are also discussed. The findings of the review reveal that an improvement in the adaptation of assistive mobility systems would require a reduction in the training time and avoidance of cognitive overload. Furthermore, sensor fusion and classification accuracy are critical to achieving real-world testing requirements. Finally, the trade-off between cost and performance needs to be considered in the commercialization of these devices.

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Section: Smart Health Care and Assistive Mobilitymentioning

confidence: 99%

Adaptability of Assistive Mobility Devices and the Role of the Internet of Medical Things: Comprehensive Review (Preprint)

Oladele¹,

Markus²,

Abu‐Mahfouz³

2021

Preprint

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show abstract

“…With an increase in the percentage of people with some form of disability [ 7 - 10 ], assistive mobility has become an important aspect of research and has gained a lot of attention from researchers in recent years. Mobility has to do with an individual’s ability to move his or her body within an environment and the ability to manipulate objects.…”

Section: Introductionmentioning

confidence: 99%

Adaptability of Assistive Mobility Devices and the Role of the Internet of Medical Things: Comprehensive Review

Oladele¹,

Markus²,

Abu‐Mahfouz³

2021

JMIR Rehabil Assist Technol

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Background With the projected upsurge in the percentage of people with some form of disability, there has been a significant increase in the need for assistive mobility devices. However, for mobility aids to be effective, such devices should be adapted to the user’s needs. This can be achieved by improving the confidence of the acquired information (interaction between the user, the environment, and the device) following design specifications. Therefore, there is a need for literature review on the adaptability of assistive mobility devices. Objective In this study, we aim to review the adaptability of assistive mobility devices and the role of the internet of medical things in terms of the acquired information for assistive mobility devices. We review internet-enabled assistive mobility technologies and non–internet of things (IoT) assistive mobility devices. These technologies will provide awareness of the status of adaptive mobility technology and serve as a source and reference regarding information to health care professionals and researchers. Methods We performed a literature review search on the following databases of academic references and journals: Google Scholar, ScienceDirect, Institute of Electrical and Electronics Engineers, Springer, and websites of assistive mobility and foundations presenting studies on assistive mobility found through a generic Google search (including the World Health Organization website). The following keywords were used: assistive mobility OR assistive robots, assistive mobility devices, internet-enabled assistive mobility technologies, IoT Framework OR IoT Architecture AND for Healthcare, assisted navigation OR autonomous navigation, mobility AND aids OR devices, adaptability of assistive technology, adaptive mobility devices, pattern recognition, autonomous navigational systems, human-robot interfaces, motor rehabilitation devices, perception, and ambient assisted living. Results We identified 13,286 results (excluding titles that were not relevant to this study). Then, through a narrative review, we selected 189 potential studies (189/13,286, 1.42%) from the existing literature on the adaptability of assistive mobility devices and IoT frameworks for assistive mobility and conducted a critical analysis. Of the 189 potential studies, 82 (43.4%) were selected for analysis after meeting the inclusion criteria. On the basis of the type of technologies presented in the reviewed articles, we proposed a categorization of the adaptability of smart assistive mobility devices in terms of their interaction with the user (user system interface), perception techniques, and communication and sensing frameworks. Conclusions We discussed notable limitations of the reviewed literature studies. The findings revealed that an improvement in the adaptation of assistive mobility systems would require a reduction in training time and avoidance of cognitive overload. Furthermore, sensor fusion and classification accuracy are critical for achieving real-world testing requirements. Finally, the trade-off between cost and performance should be considered in the commercialization of these devices.

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“…To assist and cooperate with humans, robots must be able to move easily in workplaces originally designed according to human needs [4]. For example, climbing stairs, avoiding obstacles, or opening doors [5,6]. Among the many technical difficulties to be faced and solved, one of the most important aspects is related to portability and its duration.…”

Section: Introductionmentioning

confidence: 99%

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

et al. 2021

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The purpose of the present paper is the identification of optimal trajectories of quadruped robots through genetic algorithms. The method is based on the identification of the optimal time history of forces and torques exchanged between the ground and the body, without any constraints on leg kinematics. The solutions show how it is possible to obtain similar trajectories to those of a horse’s walk but obtaining better performance in terms of energy cost. Finally, a map of the optimal gaits found according to the different speeds is presented, identifying the transition threshold between the walk and the trot as a function of the total energy spent.

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A Human-assistive Robotic Platform with Quadrupedal Locomotion

Cited by 4 publications

References 20 publications

Adaptability of Assistive Mobility Devices and the Role of the Internet of Medical Things: Comprehensive Review (Preprint)

Adaptability of Assistive Mobility Devices and the Role of the Internet of Medical Things: Comprehensive Review (Preprint)

Adaptability of Assistive Mobility Devices and the Role of the Internet of Medical Things: Comprehensive Review

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

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