2020 IEEE International Conference on Robotics and Automation (ICRA) 2020
DOI: 10.1109/icra40945.2020.9197041
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Shared Control Templates for Assistive Robotics

Abstract: Lightweight robotic manipulators can be used to restore the manipulation capability of people with a motor disability. However, manipulating the environment poses a complex task, especially when the control interface is of low bandwidth, as may be the case for users with impairments. Therefore, we propose a constraint-based shared control scheme to define skills which provide support during task execution. This is achieved by representing a skill as a sequence of states, with specific user command mappings and… Show more

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Cited by 41 publications
(75 citation statements)
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References 24 publications
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“…In shared control, the robot may relieve the operator by taking over certain subtasks of the robot. An easy-to-understand example is to constrain the orientation of a manipulated object (Quere et al, 2020). To achieve such support, the methods of the previous section on haptic augmentation can be used and applied on the remote robot.…”
Section: Shared Autonomymentioning
confidence: 99%
“…In shared control, the robot may relieve the operator by taking over certain subtasks of the robot. An easy-to-understand example is to constrain the orientation of a manipulated object (Quere et al, 2020). To achieve such support, the methods of the previous section on haptic augmentation can be used and applied on the remote robot.…”
Section: Shared Autonomymentioning
confidence: 99%
“…4) Shared Control Template: To provide the user with support from shared control skills, we use our concept of Shared Control Templates (SCT), introduced in [30]. SCTs are linked to object classes, e. g. the skill 'Pour liquid' is available for all instances of the class bottle.…”
Section: B Shared Control Unitmentioning
confidence: 99%
“…For one, we could show in our previous work that the EMG-based interface in combination with manual mode enables users with SMA to perform delicate grasp tasks of the action research arm test (ARAT) [18]. In [30], we analyzed the functionality of the shared control mode in three exemplary tasks, while in [24] the whole-body functionality is demonstrated and analyzed.…”
Section: A Exemplary Applicationsmentioning
confidence: 99%
“…Taking the last mentioned, the present project is intended to cover 02 areas of Artificial Intelligence (digital image processing [9] and robotics [10]), two problems were encountered to carry out the orders by means of the view, the first one is to be able to discriminate the orders of those that are not, considering that at a certain moment it can be visualizing a landscape, but not generating an order, therefore it is desired to find the recognition of orders, and second problem encountered is that the orders of displacement carried out are correct, carrying out the action in the indicated direction.…”
Section: Introductionmentioning
confidence: 99%