Shared Control Templates for Assistive Robotics

Quere, Gabriel; Hagengruber, Annette; Iskandar, Maged; Bustamante, Samuel; Leidner, Daniel; Stulp, Freek; Vogel, Jörn

doi:10.1109/icra40945.2020.9197041

Cited by 41 publications

(75 citation statements)

References 24 publications

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“…In shared control, the robot may relieve the operator by taking over certain subtasks of the robot. An easy-to-understand example is to constrain the orientation of a manipulated object (Quere et al, 2020). To achieve such support, the methods of the previous section on haptic augmentation can be used and applied on the remote robot.…”

Section: Shared Autonomymentioning

confidence: 99%

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

et al. 2021

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Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.

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Section: Shared Autonomymentioning

confidence: 99%

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

et al. 2021

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“…4) Shared Control Template: To provide the user with support from shared control skills, we use our concept of Shared Control Templates (SCT), introduced in [30]. SCTs are linked to object classes, e. g. the skill 'Pour liquid' is available for all instances of the class bottle.…”

Section: B Shared Control Unitmentioning

confidence: 99%

“…For one, we could show in our previous work that the EMG-based interface in combination with manual mode enables users with SMA to perform delicate grasp tasks of the action research arm test (ARAT) [18]. In [30], we analyzed the functionality of the shared control mode in three exemplary tasks, while in [24] the whole-body functionality is demonstrated and analyzed.…”

Section: A Exemplary Applicationsmentioning

confidence: 99%

EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities

Vogel

Hagengruber

Iskandar

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are no longer able to move their limbs, residual muscle function can still be existent. Previous work has shown that this residual muscular activity can suffice to apply an EMG-based user interface. In this paper, we introduce DLR's robotic wheelchair EDAN (EMG-controlled Daily Assistant), which is equipped with a torque-controlled, eight degree-of-freedom light-weight arm and a dexterous, five-fingered robotic hand. Using electromyography, muscular activity of the user is measured, processed and utilized to control both the wheelchair and the robotic manipulator. This EMG-based interface is enhanced with shared control functionality to allow for efficient and safe physical interaction with the environment.

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“…Taking the last mentioned, the present project is intended to cover 02 areas of Artificial Intelligence (digital image processing [9] and robotics [10]), two problems were encountered to carry out the orders by means of the view, the first one is to be able to discriminate the orders of those that are not, considering that at a certain moment it can be visualizing a landscape, but not generating an order, therefore it is desired to find the recognition of orders, and second problem encountered is that the orders of displacement carried out are correct, carrying out the action in the indicated direction.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Scroll Order Generator Software from View Movements in People with Disabilities

Ríos-Kavadoy¹,

Guerrero-Bello²,

Cabanillas-Carbonell³

2021

IJACSA

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People with motor disabilities face problems such as being able to move around independently, as well as having difficulties to take advantage of the technological tools developed for their rehabilitation. This research is based on computer vision and robotics, and was carried out with the objective of generating displacement orders using smoothed and binarized algorithms to assist the displacement of disabled people. The intelligent software for people with disabilities or motor deficiencies generates movement commands for an acceptable time through visual commands made by the person, by means of communication between the camera and the software, constantly capturing images. The results obtained for the scene (image) is cropped according to the face scene, then the view scene is cropped according to the face scene, and by means of necessary algorithms the pupil must be found; The complexity lies not only in locating the pupil, but also in identifying when a command is being sent and when it is not. Finally, the unit processes the movement command (left and right) to turn the LEDs on and off.

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Shared Control Templates for Assistive Robotics

Cited by 41 publications

References 24 publications

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities

Intelligent Scroll Order Generator Software from View Movements in People with Disabilities

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