15 accepted papers
Shared control enables users with motor impairments to control high-dimensional assistive robots with low-dimensional user interfaces. The challenge is to simultaneously 1) provide support for completing daily living tasks 2) enable sufficient freedom of movement to foster user empowerment 3) ensure
We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that generate grasp poses directly from sensor input. In the domain of…
From robotic space assistance to healthcare robotics, there is increasing interest in robots that offer adaptable levels of autonomy. In this paper, we propose an action representation and planning framework that is able to generate plans that can be executed with both shared control and supervised…
Controlling a robotic arm to achieve manipulation tasks is challenging for humans. Especially if only low-dimensional input signals can be provided, as is often the case for users with motor impairments. Using shared control to provide task-specific guidance and constraints facilitates control – for…
Assistive robots aim to help humans with impairments execute motor tasks in everyday household environments. Controlling the end-effector of such robots directly, for instance with a joystick, is often cumbersome. Shared control methods, like Shared Control Templates (SCTs) [1], have therefore been
Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are…
Myoelectric control is the process of controlling a prosthesis or an assistive robot by using electrical signals of the muscles. Pattern recognition in myoelectric control is a challenging field, since the underlying distribution of the signal is likely to change during the application. Covariate sh
Light-weight 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…
Light-weight robotic manipulators in combination with power wheelchairs can help to restore the mobility of people with disabilities. While such systems are available on the market, they typically are limited to fully manual control modes. In research, shared control methods are employed, to increas…
This paper examines the capability to incorporate spatial force feedback to the human toe when teleoperating a robotic arm in a force task. Due to the growing complexity of teleoperated systems new means of feedback get increasingly important. To investigate the viability of spatial toe-feedback, ex…
A fundamental problem in human-robot collaboration is to ensure safety for humans being located in the workspace of the robot. Several new robots, referred to as collaborative robots, are pushing into the market. Most of these so-called co-bots have similar properties. They are small, lightweight an…
Tool-held hitting tasks, like hammering a nail or striking a ball with a bat, require humans, and robots, to purposely collide and transfer momentum from their limbs to the environment. Due to the vibrational dynamics, every tool has a location where a hit is most efficient results in minimal tool v…
This paper proposes a scheme to provide flexible semi-autonomous grasping capabilities to an assistive robotic manipulator. The testbed consists of a five-finger robotic hand mounted on a robotic arm. During teleoperation, the position of the hand is continuously controlled in the three translationa
Motion planning in robotics is a very large field of research. Many different approaches have been developed to create smooth trajectories for robot movement. For example there are optimization algorithms, which optimize kinematic or dynamic properties of a trajectory. Furthermore, nonlinear program