Assistive and Rehabilitation Robotics

PR2 robot teleoperated by a motor-impaired user as part of the Robots for Humanity project (Willow Garage Inc., Georgia Tech, Oregon State Univ.)

Independence, and a sense of control and freedom, are some of the key factors positively correlated with life satisfaction and health (both psychological and physical) for older adults and people with motor impairments. Confidence in the ability to undertake various tasks is core to one's psychological functioning, and a greater sense of control over life is positively correlated with better health. We believe that robots have the potential to assist older adults and people with motor impairments regain independence, and improve their ability to perform many activities of daily living. Our interests range from mobile manipulators sharing a living environment and operating side-by-side with their users, to wearable robotic technology that assists in the movement of the user's body, while being unintrusive and eay to use. In this context, we are particularly interested in how care receivers can interact with robotic technology, and aim to develop Human-in-the-Loop control strategies for intuitive use of manipulators and other robots by non-experts. 

Relevant Publications
 
Journal papers:
  • T. Chen, M. Ciocarlie, S. Cousins, P. Grice, K. Hawkins, K. Hsiao, C. Kemp, C. King, D. Lazewatsky, A. Leeper,  H. Nguyen, A. Paepcke, C. Pantofaru, W. Smart, and L. Takayama. "Robots for Humanity: A Case Study in Assistive Mobile Manipulation", IEEE Robotics & Automation Magazine, Special Issue on Assistive Robotics, 20(1), 2013 (work partly performed at Willow Garage, Inc.) [pdf]

Conference papers:

  • A. Leeper, K. Hsiao, M. Ciocarlie, I. Sucan and K. Salisbury. “Methods for Collision-Free Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data”, IEEE Intl. Conf. on Humanoid Robots, Atlanta, October 2013 (work partly performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, K. Hsiao, A. Leeper and D. Gossow. “Mobile Manipulation Through An Assistive Home Robot”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012 (work performed at Willow Garage, Inc.) [pdf]
  • T. Chen, M. Ciocarlie, S. Cousins, P. Grice, K. Hawkins, K. Hsiao, C. Kemp, C. King, D. Lazewatsky, A. Leeper, H. Nguyen, A. Paepcke, C. Pantofaru, W. Smart and Leila Takayama. “Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation”, Video Session Contribution, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012 (work partly performed at Willow Garage, Inc.)
  • A. Leeper, K. Hsiao, M. Ciocarlie, D. Gossow and L. Takayama. “Strategies for Human-in-the-Loop Robotic Grasping”, IEEE/ACM Intl. Conf. on Human-Robot Interaction, Boston, March 2012 (work performed at Willow Garage, Inc.) [pdf]
  • A. Leeper, S. Chan, K. Hsiao, M. Ciocarlie and K. Salisbury. “Constraint-based Haptic Rendering of Point Data for Teleoperated Robot Grasping”, IEEE Haptics Symposium, Vancouver, March 2012 (work partly performed at Willow Garage, Inc.)
  • M. Ciocarlie, S. Clanton, M. Spalding and P. Allen. “Biomimetic Grasp Planning for Cortical Control of a Robotic Hand”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Nice, September 2008 [pdf]
  • M. Ciocarlie and P. Allen. “On-Line Interactive Dexterous Grasping”, EuroHaptics Conference, Madrid, June 2008 [pdf]
Note: this list also contains relevant publications by current lab members on work performed while affiliated with previous labs or institutions. For such cases, the place where the work was performed is marked next to each entry.
 
 
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