System Design and Implementation of UCF-MANUS—An Intelligent Assistive Robotic Manipulator

Kim, Dae‐Jin; Wang, Zhao; Paperno, Nicholas; Behal, Aman

doi:10.1109/tmech.2012.2226597

Cited by 28 publications

(13 citation statements)

References 35 publications

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“…The unweighted NASA TLX sub-scale scores supported Henry's report of high mental demand and effort (scores of 17 and 15, respectively), medium performance (13), and low frustration, low physical demand, and low temporal demand (4, 5, and 5, respectively). In a followup questionnaire, Henry reported that he would prefer a step-by-step "wizard-like" process as opposed to a set of distinct tools.…”

Section: B Subjective Resultssupporting

confidence: 61%

“…The JACO and iARM are commercially available WMRAs that allow the user to directly control the arm and gripper for general-purpose use, including self-care tasks. Researchers have sought to simplify operation of these systems via semi-autonomous control, such as in the context of picking up objects [12], [13]. The research robot RAPUDA is a WMRA with a Fig.…”

Section: Related Workmentioning

confidence: 99%

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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: B Subjective Resultssupporting

confidence: 61%

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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“…Schroer et al showed drinking assistance using a 7-DoF KUKA arm [22]. For object fetching, Kim et al introduced the UCF-MANUS robot, consisting of a wheelchair-mounted manipulator and interface [38].…”

Section: Assistive Manipulatorsmentioning

confidence: 99%

Active robot-assisted feeding with a general-purpose mobile manipulator: Design, evaluation, and lessons learned

Park

Hoshi

Mahajan

et al. 2020

Robotics and Autonomous Systems

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Eating is an essential activity of daily living (ADL) for staying healthy and living at home independently. Although numerous assistive devices have been introduced, many people with disabilities are still restricted from independent eating due to the devices' physical or perceptual limitations. In this work, we present a new meal-assistance system and evaluations of this system with people with motor impairments. We also discuss learned lessons and design insights based on the evaluations. The meal-assistance system uses a general-purpose mobile manipulator, a Willow Garage PR2, which has the potential to serve as a versatile form of assistive technology. Our active feeding framework enables the robot to autonomously deliver food to the user's mouth, reducing the need for head movement by the user. The user interface, visually-guided behaviors, and safety tools allow people with severe motor impairments to successfully use the system. We evaluated our system with a total of 10 able-bodied participants and 9 participants with motor impairments. Both groups of participants successfully ate various foods using the system and reported high rates of success for the system's autonomous behaviors. In general, participants who operated the system reported that it was comfortable, safe, and easy-to-use.

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“…A wheelchair mounted robotic arm (WMRA) is a typical service robot, which is developed to help the elderly and disabled to take care of themselves in a home environment [1][2][3][4]. However, due to the physical or cognitive defects of the users, it is still hard or impossible for them to manipulate the WMRA flexibly to complete daily tasks [5,6].…”

Section: Introductionmentioning

confidence: 99%

Learning, Generalization, and Obstacle Avoidance with Dynamic Movement Primitives and Dynamic Potential Fields

et al. 2019

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In order to offer simple and convenient assistance for the elderly and disabled to take care of themselves, we propose a general learning and generalization approach for a service robot to accomplish specified tasks autonomously in an unstructured home environment. This approach firstly learns the required tasks by learning from demonstration (LfD) and represents the learned tasks with dynamic motion primitives (DMPs), so as to easily generalize them to a new environment only with little modification. Furthermore, we integrate dynamic potential field (DPF) with the above DMPs model to realize the autonomous obstacle avoidance function of a service robot. This approach is validated on the wheelchair mounted robotic arm (WMRA) by performing serial experiments of placing a cup on the table with an obstacle or without obstacle on its motion path.

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System Design and Implementation of UCF-MANUS—An Intelligent Assistive Robotic Manipulator

Cited by 28 publications

References 35 publications

Assistive mobile manipulation for self-care tasks around the head

Assistive mobile manipulation for self-care tasks around the head

Active robot-assisted feeding with a general-purpose mobile manipulator: Design, evaluation, and lessons learned

Learning, Generalization, and Obstacle Avoidance with Dynamic Movement Primitives and Dynamic Potential Fields

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