A Supportive FRIEND at Work: Robotic Workplace Assistance for the Disabled

Gräser, Axel; Heyer, Torsten; Fotoohi, Leila; Lange, Uwe; Kampe, Henning; Enjarini, Bashar; Heyer, Stefan; Fragkopoulos, Christos; Ristić-Durrant, Danijela

doi:10.1109/mra.2013.2275695

Cited by 48 publications

(34 citation statements)

References 12 publications

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“…In order to simulate planar arm motion, joints one, three, five and seven are fixed and only joints two, four and six are controlled for the task. The distance of link two with respect to the obstacles is initially kept as do 1 and do 2 at 71.66 and 78.43 mm, respectively.…”

Section: Test Results To Compare the Previous Algorithms And The New mentioning

confidence: 99%

“…[16] In the configuration presented in Figure 3.c, P 1 is closer to the link and its probability of collision with the link is higher. However, the objective function in (1) will drive the first link in the counter-clockwise direction, which results in an increase in d 2 since the gradient of d 2 is greater than that of d 1 . This problem gets even worse when the objective function is chosen as the square of the minimum distances since its gradient is now weighted by each distance.…”

Section: Related Work On Obstacle Avoidance Sub-task Formulationmentioning

confidence: 99%

See 1 more Smart Citation

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Dede

Maaroof

Tatlıcıoğlu

2016

International Journal of Advanced Robotic Systems

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The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.

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Section: Test Results To Compare the Previous Algorithms And The New mentioning

confidence: 99%

Section: Related Work On Obstacle Avoidance Sub-task Formulationmentioning

confidence: 99%

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Dede

Maaroof

Tatlıcıoğlu

2016

International Journal of Advanced Robotic Systems

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“…It has the advantages of possessing both the mobility performance of electric wheelchair and the operational performance of the robotic arm, which attract a lot of attentions from both the users and academic society. With the developments of commercial available robotic arms: iARM 25 (produced by Exact Dynamics Ò ) and JACO 26 (produced by Kinova Ò ), a lot of researchers both at home and abroad carried out a series of studies, such as the FRIEND series robots 27 in the University of Bremen, the WMRA-I and II 28 in the University of South Florida, the wheelchair-mounted robotic manipulators (WMRMs) in Purdue University, 29 and the WMRA system ''WIM'' 3,4 in Waseda University. At present, the researches on the WMRA mainly focus on the following categories: (1) develop a variety of human-robot interaction interfaces that can satisfy the motor ability of different users, particularly for the disables; 1,4,[30][31][32] (2) adopt the visual servo technology or learn from demonstration to control the motion of robotic arm, so as to reduce the physical and mental burden of the users; 27,33,34 (3) design a new structure of robotic arm in order to improve the safety of the user, for the users are in the working space of the robotic arm; 35 and (4) develop the integrated WMRA with two or more above characteristics.…”

Section: Wmramentioning

confidence: 99%

Learning motion primitives from demonstration

Chi

Yao

Liu

et al. 2017

Advances in Mechanical Engineering

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With the purpose to offer simple and convenient assistance for the elders with disabilities to take care of themselves in activities of daily living, we present a motion primitives learning method based on robot learning from demonstration to improve the intelligence and adaptability of the wheelchair-mounted robotic arm. This method adopts the beta process autoregressive hidden Markov model to segment the demonstrations of related task, acquire the contained motion primitives, and recognize the repeated motion primitives. After that, it adopts the dynamic movement primitives to adjust the related motion primitives according to the task instructions by the wheelchair-mounted robotic arm users, so as to replay the demonstrated task in a new environment. This learning framework is validated on a 6-degree-of-freedom JACO robotic arm, performing the tasks of drinking water from the bottle through a straw and pouring water from the bottle to the cup.

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“…As to content linked to the employment situation of disabled people two articles covered FRIEND-"a robot that was developed to supports a quadriplegic individual to work as a librarian with the task of retrospectively cataloging collections of old books. All of the book manipulation tasks, such as grasping the book from the book cart and placing it on the specially designed book holder for reading by the end user, are carried out autonomously by the FRIEND system" [35] (see also [36]). The AFMASTER workstation is another product mentioned [37] and a third product mentioned is an assistive mobile robot (mimicking a forklift) that help disabled people to work in a factory environment [38].…”

Section: Descriptive Qualitative Datamentioning

confidence: 99%

Employment, Disabled People and Robots: What Is the Narrative in the Academic Literature and Canadian Newspapers?

Wolbring

2016

Societies

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Abstract:The impact of robots on employment is discussed extensively, for example, within the academic literature and the public domain. Disabled people are known to have problems obtaining employment. The purpose of this study was to analyze how robots were engaged with in relation to the employment situation of disabled people within the academic literature present in the academic databases EBSCO All-an umbrella database that consists of over 70 other databases, Scopus, Science Direct and Web of Science and within n = 300 Canadian newspapers present in the Canadian Newsstand Complete ProQuest database. The study focuses in particular on whether the literature covered engaged with the themes of robots impacting (a) disabled people obtaining employment; (b) disabled people losing employment; (c) robots helping so called abled bodied people in their job to help disabled people; or (d) robots as coworkers of disabled people. The study found that robots were rarely mentioned in relation to the employment situation of disabled people. If they were mentioned the focus was on robots enhancing the employability of disabled people or helping so called abled-bodied people working with disabled clients. Not one article could be found that thematized the potential negative impact of robots on the employability situation of disabled people or the relationship of disabled people and robots as co-workers. The finding of the study is problematic given the already negative employability situation disabled people face.

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A Supportive FRIEND at Work: Robotic Workplace Assistance for the Disabled

Cited by 48 publications

References 12 publications

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Learning motion primitives from demonstration

Employment, Disabled People and Robots: What Is the Narrative in the Academic Literature and Canadian Newspapers?

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