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An assistive robot to support dressing-strategies for planning and error handling

Chance, Greg; Chance, Gregory; Camilleri, Antonella; Winstone, Benjamin; Caleb-Solly, Praminda; Dogramadzi, Sanja

Authors

Greg Chance

Gregory Chance greg.chance@uwe.ac.uk

Antonella Camilleri

Benjamin Winstone benjamin2.winstone@uwe.ac.uk

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Praminda Caleb-Solly Praminda.Caleb-solly@uwe.ac.uk
Professor in Assistive Robotics and Intelligent Health Technologies



Abstract

© 2016 IEEE. Assistive robots are emerging to address a social need due to changing demographic trends such as an ageing population. The main emphasis is to offer independence to those in need and to fill a potential labour gap in response to the increasing demand for caregiving. This paper presents work undertaken as part of a dressing task using a compliant robotic arm on a mannequin. Several strategies are explored on how to undertake this task with minimal complexity and a mix of sensors. A Vicon tracking system is used to determine the arm position of the mannequin for trajectory planning by means of waypoints. Methods of failure detection were explored through torque feedback and sensor tag data. A fixed vocabulary of recognised speech commands was implemented allowing the user to successfully correct detected dressing errors. This work indicates that low cost sensors and simple HRI strategies, without complex learning algorithms, could be used successfully in a robot assisted dressing task.

Citation

Chance, G., Chance, G., Camilleri, A., Winstone, B., Caleb-Solly, P., & Dogramadzi, S. (2016). An assistive robot to support dressing-strategies for planning and error handling. Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016-July, 774-780. https://doi.org/10.1109/BIOROB.2016.7523721

Journal Article Type Conference Paper
Conference Name 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Start Date Jun 26, 2016
End Date Jun 29, 2016
Acceptance Date Apr 30, 2016
Publication Date Jul 26, 2016
Journal Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Print ISSN 2155-1782
Peer Reviewed Peer Reviewed
Volume 2016-July
Pages 774-780
Book Title 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
ISBN 9781509032877
DOI https://doi.org/10.1109/BIOROB.2016.7523721
Keywords rehabilitation and assistive robotics, human-machine interaction
Public URL https://uwe-repository.worktribe.com/output/909492
Publisher URL http://dx.doi.org/10.1109/BIOROB.2016.7523721
Additional Information Additional Information : © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Title of Conference or Conference Proceedings : 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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