SAM: A robotic butler for handicapped people

Remazeilles, Anthony; Leroux, Christophe; Chalubert, G.

doi:10.1109/roman.2008.4600685

Cited by 19 publications

(14 citation statements)

References 11 publications

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“…The MoVAR and MOVAID projects represent early work in this area (Van der Loos 1995;Dario 1999). Recent research has sought to develop assistive mobile manipulators with autonomy using methods such as model-based planning and visual servoing (Graf et al 2004;Remazeilles et al 2008).…”

Section: Robots For Assistive Manipulationmentioning

confidence: 99%

EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces

2009

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Assistive mobile robots that autonomously manipulate objects within everyday settings have the potential to improve the lives of the elderly, injured, and disabled. Within this paper, we present the most recent version of the assistive mobile manipulator EL-E with a focus on the subsystem that enables the robot to retrieve objects from and deliver objects to flat surfaces. Once provided with a 3D location via brief illumination with a laser pointer, the robot autonomously approaches the location and then either grasps the nearest object or places an object. We describe our implementation in detail, while highlighting design principles and themes, including the use of specialized behaviors, taskrelevant features, and low-dimensional representations.We also present evaluations of EL-E's performance relative to common forms of variation. We tested EL-E's ability to approach and grasp objects from the 25 object categories that were ranked most important for robotic retrieval by motor-impaired patients from the Emory ALS Center. Although reliability varied, EL-E succeeded at least once with objects from 21 out of 25 of these categories. EL-E also approached and grasped a cordless telephone on 12 different surfaces including floors, tables, and counter tops with 100% success. The same test using a vitamin pill (ca. 15 mm × 5 mm × 5 mm) resulted in 58% success.

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Section: Robots For Assistive Manipulationmentioning

confidence: 99%

EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces

2009

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“…The latter is equipped either with laser sensors [11], [12] or cameras [13], [14] in order to adequately fulfill demanding navigation tasks. In this category dominate the systems of the SAM robotic butler [15], the KARES-IT project [16] and the CARE-O-BOT 2 [12].…”

Section: Introductionmentioning

confidence: 99%

Guiding a robotic gripper by visual feedback for object manipulation tasks

Kouskouridas

Amanatiadis

Γαστεράτος

2011

2011 IEEE International Conference on Mechatronics

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This paper presents a novel object manipulation technique that could be adopted by any advanced mechatronic platform in order to perform demanding pick and place tasks.The ultimate goal of a robotics researcher is to provide an appli cable manipulation solution that minimizes user's involvement.It has been shown that the best solution to this problem is provided by the introduction of sensors that allow an automatic or, at least, semi-automatic grasping of the targets. The proposed method relies on a vision-based framework that is responsible for several vital tasks that affect directly the manipulation process. The contribution of the paper incorporates a shape retrieval technique accompanied with classification and clustering algorithms that are utilized during the objects' pose estimation process. The experimental results obtained confirm the validity of the presented approach.

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“…However, generation of a 3D object model combined with PBVS requires lots of computation time and usage of resources. Although not technically a WMRA, the companion robotic butler SAM [8] uses a stereo rig to approach an object. The companion robot El-E performs overhead object grasping off of "flat surfaces" using 3D laser scanning and vision [9].…”

Section: Introductionmentioning

confidence: 99%

An empirical study with simulated ADL tasks using a vision-guided assistive robot arm

Kim

Lovelett

Behal

2009

2009 IEEE International Conference on Rehabilitation Robotics

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In this paper, we describe an empirical study with healthy subjects with simulated ADL tasks using UCF-ARM -a 6-DOF assistive robot that is visually guided through a calibrated stereo camera system fitted in the gripper of Exact Dynamics' Manus ARM. The goal of the research is to reduce time to task completion and cognitive burden for users interacting with an unstructured environment via a Wheelchair Mounted Robotic Arm (WMRA). Our WMRA, UCF-ARM, provides access to a multimodal user-customizable human computer interface and accomplishes visual servoing through an in-hand stereo rig as well as adaptive grip force application through force sensing resistors embedded in the fingers of the gripper. Choice of user interface is dependent on the user's functional level and injury. Two level object grasping tasks are used to assess the time to task completion and cognitive burden for users evaluating the system under different tasks, control modes, and interface modalities. Results of the statistical analysis are provided to compare the advantages and disadvantages of the evaluated options.

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SAM: A robotic butler for handicapped people

Cited by 19 publications

References 11 publications

EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces

EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces

Guiding a robotic gripper by visual feedback for object manipulation tasks

An empirical study with simulated ADL tasks using a vision-guided assistive robot arm

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