Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units

Bien, Zeungnam; Chung, Myung-Jin; Chang, Pyung Hun; Kwon, Dong‐Soo; Kim, Dae‐Jin; Han, Jong-Seob; Kim, Jae-Hean; Kim, Do-Hyung; Park, Hyung Soon; Kang, Sang Hoon; Lee, Kyoobin; Lim, Soo-Chul

doi:10.1023/b:auro.0000016864.12513.77

Cited by 79 publications

(51 citation statements)

References 35 publications

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“…The 'Care-O-Bot' assistive robot has been through many iterations [16], [17], but has not emphasized self-care tasks. [18] reports that the KARES II system used multiple forms of user input and provided assistance with shaving, but the details of how people used the system to shave are unclear.…”

Section: Related Workmentioning

confidence: 99%

Assistive mobile manipulation for self-care tasks around the head

Hawkins

Grice

Chen

et al. 2014

2014 IEEE Symposium on Computational Intelligence in Robotic Rehabilitation and Assistive Technologies (CIR2AT)

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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 in his own home using a general purpose mobile manipulator (PR2 from Willow Garage). The robot primarily provides assistance by holding a tool (e.g., an electric shaver) at user-specified locations around the user's head, while he/she moves his/her head against it. If the robot detects forces inappropriate for the task (e.g., shaving), it withdraws the tool. The robot also holds a mirror with its other arm, so that the user can see what he/she is doing. For all aspects of the task, the robot and the human work together. The robot uses a series of distinct semi-autonomous subsystems during the task to navigate to poses next to the wheelchair, attain initial arm configurations, register a 3D model of the person's head, move the tool to coarse semantically-labeled tool poses (e.g, "Cheek"), and finely position the tool via incremental movements. Notably, while moving the tool near the user's head, the robot uses an ellipsoidal coordinate system attached to the 3D head model. In addition to describing the complete robotic system, we report results from Henry Evans using it to shave both sides of his face while sitting in his wheelchair at home. He found the process to be long (54 minutes) and the interface unintuitive. Yet, he also found the system to be comfortable to use, felt safe while using it, was satisfied with it, and preferred it to a human caregiver.

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Section: Related Workmentioning

confidence: 99%

Assistive mobile manipulation for self-care tasks around the head

Hawkins

Grice

Chen

et al. 2014

2014 IEEE Symposium on Computational Intelligence in Robotic Rehabilitation and Assistive Technologies (CIR2AT)

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“…In the past, there has been done much research [19], [20] in how to improve the functionality of rehabilitation robots. The improvement of the functionality is reached by: 1. advanced user-interfacing and 2. innovative robot capabilities.…”

Section: Freek Liefhebber Joris Sijsmentioning

confidence: 99%

Vision-based control of the Manus using SIFT

Liefhebber

Sijs

2007

2007 IEEE 10th International Conference on Rehabilitation Robotics

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Abstract-The rehabilitation robot Manus is an assistive device for severely motor handicapped users. The executing of all day living tasks with the Manus, can be very complex and a vision-based controller can simplify this. The lack of existing vision-based controlled systems, is the poor reliability of the computer vision in unstructured environments. In this paper, a computer vision solution is presented, which can estimate realtime the pose of an object and co-operate with a vision-based controller. The computer vision is robust to illumination changes, a varying scale and rotation and is robust to occlusion. The computer vision is mainly based on the SIFTalgorithm and the usage of a 3D-model of an object. Important steps to create this 3D-model are discussed. The detection and recognition of the required SIFT-keypoints, has become realtime, by exchanging redundancy against calculation time. With a position-based visual servoing controller, the Manus can be positioned with respect to an object.

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“…The wheelchair-mounted robot (developed in the KARES project) is intended to assist the user in handling various objects, opening doors, etc., while they are in the wheelchair. A detailed description of the design and functionality of the robots for object handling can be found in some of our previous papers (Song et al, 1999;Bien et al, 2004). The robots for manipulation assistance may be excluded from the smart house structure when the user has reasonable motion, adequate muscle strength in the upper limbs, and adequate hand dexterity.…”

Section: System Architecturementioning

confidence: 99%

“…Some of the wheelchair projects highlight automatic wheelchair control and functionality, such as obstacle avoidance and path planning, to achieve complex maneuvers (Levine et al, 1999;Bourhis et al, 2001;Pries et al, 1998;Prassler et al, 2001;Simpson et al, 2004;Hamagami and Hirata, 2004). Others prioritize innovative human-machine interfaces (Yanco, 1998;Mazo, 2001;Pries et al, 1998;Bien et al, 2004;Moon et al, 2003). Our intelligent wheelchair design focused on effective obstacle avoidance in autonomous navigation using a tilted scanning mechanism of Laser Range Finder (LRF).…”

Section: Intelligent Wheelchairmentioning

confidence: 99%

Robotic smart house to assist people with movement disabilities

et al. 2006

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This paper introduces a new robotic smart house, Intelligent Sweet Home, developed at KAIST in Korea, which is based on several robotic agents and aims at testing advanced concepts for independent living of the elderly and people with disabilities. The work focuses on technical solutions for human-friendly assistance in motion/mobility and advanced human-machine interfaces that provide simple control of all assistive robotic systems and home-installed appliances. The smart house concept includes an intelligent bed, intelligent wheelchair, and robotic hoist for effortless transfer of the user between bed and wheelchair. The design solutions comply with most of the users' requirements and suggestions collected by a special questionnaire survey of people with disabilities. The smart house responds to the user's commands as well as to the recognized intentions of the user. Various interfaces, based on hand gestures, voice, body movement, and posture, have been studied and tested. The paper describes the overall system structure and

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Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units

Cited by 79 publications

References 35 publications

Assistive mobile manipulation for self-care tasks around the head

Assistive mobile manipulation for self-care tasks around the head

Vision-based control of the Manus using SIFT

Robotic smart house to assist people with movement disabilities

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