Shared control framework applied to a robotic aid for the blind

Aigner, P.; McCarragher, B.J.

doi:10.1109/robot.1998.677058

Cited by 23 publications

(13 citation statements)

References 6 publications

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“…A common theme of the work is a high degree of task specialization toward capabilities that would enable elderly and/or disabled people to accomplish tasks they could not do otherwise and to be commanded in some form by a user with one or more communication disabilities. Movement aides that have been developed include the GuideCane [1], a robotic guide cane for the blind, the PAMM intelligent walker [49], Wheelesey [59], and the NavChair [24], which involved speech control of the wheelchair [47]. Some work has addressed the safety aspects of such systems [47,59] and suggested common metrics for their testing and evaluation.…”

Section: Related Work and Open Challengesmentioning

confidence: 99%

User—robot personality matching and assistive robot behavior adaptation for post-stroke rehabilitation therapy

Tapus¹,

Ţăpuş

Matarić

2008

Intel Serv Robotics

339

195

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This paper describes a hands-off socially assistive therapist robot designed to monitor, assist, encourage, and socially interact with post-stroke users engaged in rehabilitation exercises. We investigate the role of the robot's personality in the hands-off therapy process, focusing on the relationship between the level of extroversion-introversion of the robot and the user. We also demonstrate a behavior adaptation system capable of adjusting its social interaction parameters (e.g., interaction distances/proxemics, speed, and vocal content) toward customized post-stroke rehabilitation therapy based on the user's personality traits and task performance. Three validation experiment sets are described. The first maps the user's extroversion-introversion personality dimension to a spectrum of robot therapy styles that range from challenging to nurturing. The second and the third experiments adjust the personality matching dynamically to adapt the robot's therapy styles based on user personality and performance. The reported results provide first evidence for user preference for personality matching in the assistive domain and demonstrate how the socially assistive robot's This work was supported by USC Women in Science and Engineering (WiSE) Program and the Okawa Foundation. autonomous behavior adaptation to the user's personality can result in improved human task performance.

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Section: Related Work and Open Challengesmentioning

confidence: 99%

User—robot personality matching and assistive robot behavior adaptation for post-stroke rehabilitation therapy

Tapus¹,

Ţăpuş

Matarić

2008

Intel Serv Robotics

339

195

View full text Add to dashboard Cite

show abstract

“…An adequate definition of an assistive robot is one that gives aid or support to a human user. Research into assistive robotics includes rehabilitation robots [6] [9][18] [20] [26], wheelchair robots and other mobility aides [1] [16][34] [38], companion robots [3][31] [35], manipulator arms for the physically disabled [17][15] [24], and educational robots [21]. These robots are intended for use in a range of environments including schools, hospitals, and homes.…”

Section: A Assistive Roboticsmentioning

confidence: 99%

Socially Assistive Robotics

Feil-Seifer

Matarić

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.

617

397

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“…This forms the basis for the path inference algorithm, which proceeds as follows. At each time step, the walker estimates the probability that the user is traveling on each of the possible arcs from its current position 1 by assigning a weight to each path. Although it is possible to rotate the walker in place and thus proceed along a straight line to any point, users do not operate the rollator this way.…”

Section: User Path Inferencementioning

confidence: 99%

“…This is also an active device that guides its user based on directional forces placed on the cane. They use an admittance controller [1] to provide obstacle avoidance while letting forces placed on the cane determine which obstacle-free path to take.…”

Section: Related Workmentioning

confidence: 99%

An assistive robotic agent for pedestrian mobility

Wasson

Gunderson

Graves

et al. 2001

Proceedings of the Fifth International Conference on Autonomous Agents

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The goal of this project is to develop a pedestrian mobility aid for the elderly. In order for this type of assistive technology to be useful and accepted by its intended user community, it must enhance the abilities of users, not replace them. This leads to an agent architecture in which the agent must operate without hindering the user's ability to take direct action when they choose. In other words, the agent cannot simply be a proxy for the user's actions. The agent must select its own goals based on observations of its user's actions. This is crucial not only because users may have diminished capacity to explain their actions to an agent, but because the ability of the agent to correctly interpret the user's goals is tied to its ability to act while still allowing the user to "feel in control". We present a mobility aid, i.e. a wheeled walker, which varies its goals and level of activity based on an estimation of its user's intentions. The assistive agent often takes no action, allowing the user to be fully in control. When the ease or safety of the user's travel is threatened, the agent attempts to influence the user's motion based on its belief in the user's goal. By varying the degree of autonomy, the walker can adjust to the user as their abilities change from day to day, or hour to hour. This prevents the walker from "trying to do too much", allowing the user to feel as if they are in control and not being "lead".

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Shared control framework applied to a robotic aid for the blind

Cited by 23 publications

References 6 publications

User—robot personality matching and assistive robot behavior adaptation for post-stroke rehabilitation therapy

User—robot personality matching and assistive robot behavior adaptation for post-stroke rehabilitation therapy

Socially Assistive Robotics

An assistive robotic agent for pedestrian mobility

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