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Aim to improve upper limb rehabilitation effect, we design and develop an Image-projective Desktop Arm Trainer (IDAT). Compared with conventional therapy, IDAT provides a more effective and interesting training method. IDAT's goal is to maintain and improve patients' upper limb function by training their eye-hand coordination. We select step-on interface (SOI) as the input system which makes trainees...
Nowadays, remote control of robots (telerobots) is mainly based on two models; the first one is used for controlling robot that work in well-defined environments; The second model concerns the monitoring and surveillance robots acting in an unknown and dynamic workspace. The disadvantages of these models are the lack of real human dynamic control of the robot tasks and the functionally limited available...
In this video we briefly illustrate the progress and contributions made with our mobile, indoor, service robots CoBots (Collaborative Robots), since their creation in 2009. Many researchers, present authors included, aim for autonomous mobile robots that robustly perform service tasks for humans in our indoor environments. The efforts towards this goal have been numerous and successful, and we build...
This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the...
This paper presents tracking algorithms of a mobile robot that tracks a human in front. The mobile robot, which is a differential-driven wheel type, is equipped with a laser range finder to perform human tracking in front. Initially, we recommend the torso part for the robust tracking of the human body in outdoor environment by a laser range finder. To track a human in front, we define a virtual target...
This paper presents an interface that allows a human user to specify a desired path for a mobile robot in a planar workspace with noisy binary inputs that are obtained at low bit-rates through an electroencephalograph (EEG). We represent desired paths as geodesics with respect to a cost function that is defined so that each path-homotopy class contains exactly one (local) geodesic. We apply max-margin...
This paper proposes the development of an autonomous navigation robot with hand-cleaning service in indoor environments. To navigate in unknown environments and provide service, the robot is with several intelligent behaviors including wall-following, obstacle avoidance, autonomous navigation, and human detection. A laser-sensor-based approach is used in the wall-following and obstacle avoidance behavior...
Haptic shared control (HSC) has been widely used in human-robot interaction systems, such as car driving and assistive robots. However, the stability analysis of HSC is not well investigated in current literature, especially for the nonlinear systems. In this paper, the stability of HSC for nonlinear systems is analyzed based on the set theory and convex analysis. The authority weight calculation...
The prospect of controlling devices merely by the power of one's thoughts is compelling, especially for assistive technology applications. In the accompanying video, we show how we have strived to push brain-computer interface (BCI) technology out of the lab and into the real world, while simultaneously moving away from testing solely with healthy subjects to undertaking trials with patients and potential...
Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate...
Cooperative driving is a promising technology for reducing traffic jams, limiting CO2 emissions and reducing traffic accidents. With the future mixed traffic, the current platooning concept comes to its limitations when human-driven vehicles interfere with the platoon between the autonomous vehicles without negotiation. In this interfering situation, most of them have to break down into two platoons,...
Autonomous vehicles have seen great advancements in recent years, and such vehicles are now closer than ever to being commercially available. The advent of driverless cars provides opportunities for optimizing traffic in ways not possible before. This paper introduces an open source multiagent microscopic traffic simulator called AORTA, which stands for Approximately Orchestrated Routing and Transportation...
After an earthquake or the collapse of a built structure, and facing a scenario of large destruction, the response time to search and locate trapped survivors is crucial. The human intervention of urban search and rescue (USAR) teams, including USAR dogs, has to be done cautiously so as to protect the rescue workers from further collapses. Debris may be so cluttered that prevent the close human access...
This manuscript describes in detail the development of an avatar robot for human companion tasks. The mobile robot embodies a remote human to have communications with other human while walking in close proximity to the mobile robot. The robot takes the role of a physical interface to deploy mobility, sensors and telepresence with personification throughout some behaviours of the remote human. Behaviours...
This paper proposes a method for learning the kicking motion of an inverted-pendulum mobile robot from the observation of a human player's demonstration. An inverted-pendulum mobile robot with upper and lower body links observes the human demonstration with a motion capture system and estimates the posture of each human links. The robot maps the links to its own two links and estimates link posture...
In this study, we investigate the effect of the attributes of humans, such as sex and age, on their psychological evaluation of humanoids. We used 11 humanoids in order to investigate the basic tendency of humans to evaluate humanoids. In addition, we included wheeled-walking robots, biped-walking robots, and androids in order to consider the influence of the type of humanoid. We collected data from...
This study identifies the basic general perspectives that ordinary people use to evaluate humanoids (Study 1). In addition, it develops a new psychological scale to quantify general impressions regarding humanoids based on these basic perspectives (Study 2). In Study 1, to discover the basic perspectives toward humanoids, we used 11 humanoids and collected data from 919 Japanese people ranging from...
Fuzzy logic theories, in the past decades, have been used as a popular basis for designing motion controllers. In this research, a fuzzy logic controller is designed for a truck and multiple trailer system where the controller generates the drive velocity and turn rate for only the truck. Instead of relying solely on human expert inputs, an automatic fuzzy rule tuning approach is adopted. This problem...
Robots have a continuous increasingly role in today's society as they have stepped in the human environment in order to better fulfil demanding and complex tasks. A novel mobile robot system based on ubiquitous computing technologies is proposed to address two fundamental problems in the field of robotics, i.e. the interaction between human and robot and navigation in the workspace environment. A...
This paper presents an object handling control between a mobile manipulator and a human operator. The robot has been built for serving humans in the home environment. It has two wheels to maintain balance and is able to make contact with a human operator via an object. A force control method is applied to maintain stable object-handling tasks. As the human operator pushes and pulls the object, the...
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