18 accepted papers
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require physical contact, e.g. grasping. In this paper, we propose
In this paper we introduce a novel technique that aims to control a two-module bio-inspired soft-robotic arm in order to qualitatively reproduce human demonstrations. The main idea behind the proposed methodology is based on the assumption that a complex trajectory can be derived from the compositio…
Online human leg tracking and gait analysis are crucial functionalities for mobility assistant robots, like intelligent walkers. Usually, such walkers are equipped with various sensors for the extraction of human-related features for adaptive human-robot interaction and assistance. We treat the gait…
In this paper we introduce a novel technique that aims to dynamically control a two-module bio-inspired soft-robotic arm in order to qualitatively reproduce a path defined by sparse way-points. The main idea behind this work is based on the assumption that a complex trajectory may be derived as a co…
Elderly and mobility impaired people need special attention during bathing activities, since these tasks are demanding in body flexibility. Our aim is to build an assistive robotic bathing system, in order to increase the independence and safety of this procedure. Towards this end, the expertise of…
In this paper we introduce a novel technique that aims to dynamically control a modular bio-inspired soft-robotic arm in order to perform cyclic rhythmic patterns. Oscillatory signals are produced at the actuator's level by a central pattern generator (CPG), resulting in the generation of a periodic…
In this work, we tackle the problem of child engagement estimation while children freely interact with a robot in a friendly, room-like environment. We propose a deep learning-based multi-view solution that takes advantage of recent developments in human pose detection. We extract the child's pose f…
In this work, we present a novel framework for on-line human gait stability prediction of the elderly users of an intelligent robotic rollator using Long Short Term Memory (LSTM) networks, fusing multimodal RGB-D and Laser Range Finder (LRF) data from non-wearable sensors. A Deep Learning (DL) based…
In this letter, we tackle the problem of adapting the motion of a robotic assistant rollator to patients with different mobility status. The goal is to achieve a coupled human–robot motion in a front-following setting as if the patient was pushing the rollator himself/herself. To this end, we propos
The accurate human gait tracking is an important factor for various robotic applications, such as robotic walkers aiming to provide assistance to patients with different mobility impairment, social robot companions, etc. A context-aware robot control architecture needs constant knowledge of the user
We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a whole framework and resources of a real-life scenario for elderl…
This work examines how and to what benefit an autonomous humanoid robot can supervise a child in an object assembly task. In order to understand the child's actions, a novel 3D object tracking algorithm for RGB-D data is employed. The tracker consists of two stages: the first performs a tracking-by-…
In this paper we describe a control strategy for a user-adaptive human-robot system for an intelligent robotic Mobility Assistive Device (MAD)using raw data from a single laser-range-finder (LRF)mounted on the MAD and scanning the walking area. The proposed control architecture consists of three mod…
Elderly or disabled people usually need augmented nursing attention both in home and clinical environments, especially to perform bathing activities. The development of an assistive robotic bath system, which constitutes a central motivation of this letter, would increase the independence and safety
Tracking human gait accurately and robustly constitutes a key factor for a smart robotic walker, aiming to provide assistance to patients with different mobility impairment. A context-aware assistive robot needs constant knowledge of the user's kinematic state to assess the gait status and adjust it…
Elderly people have particular needs in performing bathing activities, since these tasks require body flexibility. Our aim is to build an assistive robotic bath system, in order to increase the independence and safety of this procedure. Towards this end, the expertise of professional carers for bath…
When designing a user-friendly Mobility Assistive Device (MAD) for mobility constrained people, it is important to take into account the diverse spectrum of disabilities, which results to completely different needs to be covered by the MAD for each specific user. An intelligent adaptive behavior is…
The precise analysis of a patient's or an elderly person's walking pattern is very important for an effective intelligent active mobility assistance robot. This walking pattern can be described by a cyclic motion, which can be modeled using the consecutive gait phases. In this paper, we present a co…