15 accepted papers
Dementia affects 50 million people worldwide, underscoring the urgent need for effective interventions to enhance their well-being. While reminiscence intervention shows promise, its implementation is hindered by limited human resources, making machine-aided systems a viable automated solution for s…
Effective navigation in unfamiliar environments remains a critical challenge for successful deployment. Current navigation methods, which rely on autonomous or teleoperated exploration and map building, pose technical difficulties for inexperienced end-users. In contrast, humans can effectively navi
Traditional text classification requires thousands of annotated data or an additional Neural Machine Translation (NMT) system, which are expensive to obtain in real applications. This paper presents a Contrast-Enhanced Semi-supervised Text Classification (CEST) framework under label-limited settings…
There are limitations of conventional active-assistive control for upper limb rehabilitation exoskeleton robot, such as 1). prior time-dependent trajectories are generally required, 2). task-based rehabilitation exercise involving multi-joint motion is hard to implement, and 3). assistive mechanism…
The synchronization of the movement between exoskeleton robot and human arm is crucial for Robot-assisted training (RAT) in upper limb rehabilitation. In this paper, we propose a deep learning based motion prediction model which is applied to our recently developed 8 degrees-of-freedom (DoFs) upper…
In this paper, we propose a novel system architecture called multi-layer environmental affordance map for social and service companion robots. Based on this architecture, robots can organize the perception and inference information efficiently and generate social friendly navigation strategies. In o…
Since deep-learning-based method has been widely-used and is capable of generating generic model, most existing methods about action recognition use either two-stream structure, considering spatial and temporal features separately, or C3D, costing lots of prices in memory and time. We aim to design…
For a service robot, it is not adequate to let its navigational movement be based only on a single metric, such as minimum distance path. In the environment where the robot and humans are coexisting, the robot should always perform social navigation whenever it is moving. However, to perform social…
As robots participate in human's daily activities more and more frequently, mobility performance has become one of the main factors determining how robots will share an environment with humans harmoniously in the near future. Among several different kinds of mobile platforms, using omnidirectional c…
3D hand pose estimation is a hot research topic in recent years. It's been widely used in many advanced applications for virtual reality and human-computer interaction, since it provides a natural interface for communication between human and cyberspace. Despite the fast development of this field, i…
This paper proposes a new method for human posture recognition from top-view depth maps on small training datasets. There are two strategies developed to leverage the capability of convolution neural network (CNN) in mining the fundamental and generic features for recognition. First, the early layer…
Many neurological or orthopedic disorders may cause motor impairments of shoulder. Patients require intensive training in order to recover from those impairments. However, the intensive training will lead to growing demand for strenuous work. Robot-aided therapy is able to alleviate the therapist's…
In this paper, we present an efficient framework for human activity recognition in daily environment. We use depth information mainly for privacy protection, and then focus on the motion analysis of informative body parts, since most activities are much associated with these particular parts, e.g.,
In this paper, we propose a gait tracking and analysis method using a depth image sensor installed on robotic walker. Nowadays, robotic walker not only can assist elders who have suffered deteriorating mobility but also help to provide rehabilitating function to people who have crippled walking abil…
Object search is a fundamental ability for a service robot to provide higher level services. We focus on object search in an environment with limited free space to place objects and constrained viewpoints to observe the environment, such as a shelf or a cupboard. We propose an object search planner…