Grasp Rehabilitation of Stroke Patients Through Object Manipulation with an Intelligent Power Assist Robotic System

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

“…A robot working collaboratively with a user can improve its efficiency by modeling the user's behavior, for example by determining specific poses to hold an object in to facilitate fluid collaboration during assembly (Akkaladevi et al, 2016) or by anticipating and delivering the next required item in assembly (Hawkins et al, 2013(Hawkins et al, , 2014Maeda et al, 2014) or cooking (Koppula et al, 2016;Milliez et al, 2016), or by providing help under different initiative paradigms during assembly (Baraglia et al, 2016). Collaborative environmental assistance can also be used to perform joint actions with a user, such as in handovers (Cakmak et al, 2011;Kwon and Suh, 2012;Grigore et al, 2013;Broehl et al, 2016;Canal et al, 2018;Cserteg et al, 2018;Goldau et al, 2019;Lambrecht and Nimpsch, 2019;Nemlekar et al, 2019;Newman et al, 2020;Racca et al, 2020), where the goal is to transfer an object from the robot's end effector to the user's hand; or comanipulation (Koustoumpardis et al, 2016;Nikolaidis et al, 2016;El Makrini et al, 2017;Goeruer et al, 2018;Rahman, 2019b;DelPreto and Rus, 2019;Rahman, 2020;Wang et al, 2020), where the aim is for the user and the robot to jointly move an object to a specified location or provide redundancy in holding an object in a joint assembly task (Parlitz et al, 2008) or safety critical situation such as surgery (Su et al, 2018).…”