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This paper presents a hybrid system of applying homeostatic drives theory and stimuli from environment or human on a robot, aiming to solve the increasing need of elder caring in modern aging society. Through reinforcement learning with human feedback, the robot is enabled to make appropriate decisions by reviewing its own motivation, environment stimuli and human inputs, allowing the robot to finish...
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 laborious burden and to provide more information about patient's condition during the therapy. Generally,...
To enable service robots enter a multi-human office environment, it is important to find a group of human users' social patterns and then to provide a proper service to them in time. Usually, human users' social patterns are represented in terms of nonverbal social signals. In this paper, some nonverbal social signals are fast detected in social environments. Then, robot can find the spatial social...
For service robots to be able to enter a multi-human office environment, it is important to find a group of human users' social patterns and then to provide a proper service to them in time. Usually, human users' social patterns are represented in terms of nonverbal social signals. In this paper, a new integrated approach on recognizing multi-human social signals is proposed. Specifically, the nonverbal...
It is a remaining challenge for intelligent robot to interact with human daily living environment; one of the scenario is grasping objects from the table. Because of the massive variety of objects in daily life, it is still a hard task for robots to achieve. In this work, we propose an RGB-D eye-in-hand system and an effective grasp selection algorithm to grasp objects without prior knowledge of the...
This article designs a rescue-assist wireless sensor networks for fire rescue and health care in large building. This system consists of wearable tags, route sensor nodes and base station. The wearable tag detects the activity of the user. We firstly propose an efficient fall detection algorithm. This algorithm has a low computational complexity and can be used in sensor node. And the wearable tag...
In this paper, we develop a human awareness Decision Network model for robot performance on decision making. To accomplish more natural and intelligent human robot interaction (HRI), a robot should not only be able to infer the user's intention through recognizing the actions, but also to perform appropriate decisions and to learn from the user's feedback. In traditional approaches, user intention...
This paper introduces a context-aware assisted active robotic walker for Parkinson's disease (PD) patients. Most of PD patients suffer from not only loss of balance but also abnormal gaits. These symptoms tend to make PD patients fall down more easily and result in low quality of life. We use Hidden Markov Model (HMM) to analyze the gait of PD patients, and then use our walker to help patients adjust...
Service robot has received enormous attention with rapid development of advanced technology in recent years, and it is endowed with the capabilities of performing human-robot interaction (HRI). We construct a sensor fusion based system to integrate the information from both sensors by using a data association approach - Covariance Intersection (CI). It will be used to increase the robustness and reliability...
In this paper, a robot assisted maintenance strategy (RAMS) which aims to balance the coverage rate and maintenance cost was proposed. In this strategy, we firstly analyzed the coverage and energy consumption model. And then a network health indicator which considering the coverage rate and residual energy in each node was proposed. Mathematically, the network health indicator is a cost function....
Exercise dosage is proven to be an important factor in the physical treatment. Robot assistive approach can improve the rehabilitation quality and evaluate patient's recovery quantitatively. This paper presents kinematic structure, assistive control system, and integrated F/T sensor for an upper limb rehabilitation robot. By using the human arm dynamic, there are three rehabilitation modes presented...
In this paper, we develop a multi-human detection system with a team of robots basically in an indoor environment. To start with, we propose a hybrid approach to resolve the problem of human leg detection using Laser Range Finder (LRF) for each robot, that returns not only “true” or “false” type of answer but also a probability. Specifically, the set of measurement data obtained from the laser range...
This paper proposes a navigation algorithm that considers the states of humans and other robots in order to achieve harmonious coexistence between robots and humans. When navigating through humans and robots with different functions, a robot should not only pay attention to obstacle avoidance and goal seeking, it should also take care of whether it interferes with other people or robots. To deal with...
In this paper we proposed a novel navigation scheme and apply it to the home environment. Robot navigation in the presence of human is highly focused in the field of robotics these days. While the robot maneuvering in crowded space, like home and office environments, we should not only consider collision avoidance but also pay attention to human feelings. In order to deal with this issue, we present...
The development of a robot assisted recovery room is presented for post-surgical healthcare. Robotic beds, multi-media environment, and multi-sensor monitoring are the three key components in the recovery room. The robotic beds are developed for posture changing and body transferring, the multi-media environment is employed for effectively pacifying the patients' psychological condition, and multiple...
In this paper, we address the navigation problem of a wheeled mobile robot (WMR) under behavior-based control, such as avoiding collision and approaching a target, with the proposed potential field based-fuzzy logic (PFBFL). Generally, how to design appropriate behavior-based control is rather challenging especially when control, sensor signal, and model constraints need to be considered all together...
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