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Author: Yuquan Leng
Publisher: Frontiers Media SA
ISBN: 2832549853
Category : Science
Languages : en
Pages : 134
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Book Description
With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Author: Yuquan Leng
Publisher: Frontiers Media SA
ISBN: 2832549853
Category : Science
Languages : en
Pages : 134
Get Book Here
Book Description
With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Author: Luka Peternel
Publisher: Frontiers Media SA
ISBN: 2889633128
Category :
Languages : en
Pages : 229
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Book Description
In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
Author: Chenguang Yang
Publisher: Elsevier
ISBN: 0323958435
Category : Computers
Languages : en
Pages : 268
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Book Description
Human-in-the-loop Learning and Control for Robot Teleoperation presents recent, research progress on teleoperation and robots, including human-robot interaction, learning and control for teleoperation with many extensions on intelligent learning techniques. The book integrates cutting-edge research on learning and control algorithms of robot teleoperation, neural motor learning control, wave variable enhancement, EMG-based teleoperation control, and other key aspects related to robot technology, presenting implementation tactics, adequate application examples and illustrative interpretations. Robots have been used in various industrial processes to reduce labor costs and improve work efficiency. However, most robots are only designed to work on repetitive and fixed tasks, leaving a gap with the human desired manufacturing effect. Introduces research progress and technical contributions on teleoperation robots, including intelligent human-robot interactions and learning and control algorithms for teleoperation Presents control strategies and learning algorithms to a teleoperation framework to enhance human-robot shared control, bi-directional perception and intelligence of the teleoperation system Discusses several control and learning methods, describes the working implementation and shows how these methods can be applied to a specific and practical teleoperation system
Author: Changliu Liu
Publisher: CRC Press
ISBN: 0429602855
Category : Computers
Languages : en
Pages : 206
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Book Description
In this book, we have set up a unified analytical framework for various human-robot systems, which involve peer-peer interactions (either space-sharing or time-sharing) or hierarchical interactions. A methodology in designing the robot behavior through control, planning, decision and learning is proposed. In particular, the following topics are discussed in-depth: safety during human-robot interactions, efficiency in real-time robot motion planning, imitation of human behaviors from demonstration, dexterity of robots to adapt to different environments and tasks, cooperation among robots and humans with conflict resolution. These methods are applied in various scenarios, such as human-robot collaborative assembly, robot skill learning from human demonstration, interaction between autonomous and human-driven vehicles, etc. Key Features: Proposes a unified framework to model and analyze human-robot interactions under different modes of interactions. Systematically discusses the control, decision and learning algorithms to enable robots to interact safely with humans in a variety of applications. Presents numerous experimental studies with both industrial collaborative robot arms and autonomous vehicles.
Author: Konstantinos Tsiakas
Publisher:
ISBN:
Category : Artificial intelligence
Languages : en
Pages : 122
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Book Description
Robot-Assisted Training (RAT) is a growing body of research in Human-Robot Interaction (HRI) that studies how robots can assist humans during a physical or cognitive training task. Robot-Assisted Training systems have a wide range of applications,varying from physical and/or social assistance in post-stroke rehabilitation to intervention and therapy for children with Autism Spectrum Disorders. The main goal of such systems is to provide a personalized and tailored session that matches user abilities and needs, by adjusting task-related parameters (e.g., task difficulty, robot behavior), in order to enhance the effects of the training session. Moreover, such systems need to adapt their training strategy based on user's affective and cognitive states. Considering the sequential nature of human-robot interactions, Reinforcement Learning (RL) is an appropriate machine learning paradigm for solving sequential decision making problems with the potential to develop adaptive robots that adjust their behavior based on human abilities, preferences and needs. This research is motivated by the challenges that arise when different types of users are considered for real-time personalization using Reinforcement Learning, in a Robot-Assisted Training scenario. To this end, we present an Interactive Learning and Adaptation Framework for Personalized Robot-Assisted Training. This framework utilizes Interactive RL (IRL)methods to facilitate the adaptation of the robot to each individual, monitoring both behavioral (task performance) and physiological data (task engagement). We discuss how task engagement can be integrated to the personalization mechanism, through Learning from Feedback. Moreover, we show how Human-in-the-Loop approaches can be used to utilize human expertise using informative control interfaces, towards a safe and tailored interaction. We illustrate this framework with a Socially Assistive Robotic (SAR) system that instructs and monitors a cognitive training task and adjusts task diculty and robot behavior, in order to provide a personalized training session. We present our data-driven approach (data collection, data analysis, user modeling and simulation), as well as a user study to evaluate our real-time SAR-based prototype system for personalized cognitive training. We discuss the limitations and challenges of our approach, as well as possible future directions, considering the different modules of the proposed system (RL-based personalization, user modeling,EEG analysis, Human-in-the-Loop). The long-term goal of this research is to develop personalized and co-adaptive human-robot interactive systems, where both agents(human, robot) adapt and learn from each other, in order to establish an efficient interaction.
Author: Philipp Beckerle
Publisher: Springer Nature
ISBN: 3030386880
Category : Computers
Languages : en
Pages : 102
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Book Description
This monograph presents innovative research regarding the body experience of human individuals who are using assistive robotic devices such as wearable robots or teleoperation systems. The focus is set on human-in-the-loop experiments that help to empirically evaluate how users experience devices. Moreover, these experiments allow for further examination of the underlying mechanisms of body experience through extending existing psychological paradigms, e.g., by disentangling tactile feedback from contacts. Besides reporting and discussing psychological examinations, the influence of various aspects of engineering design is investigated, e.g., different implementations of haptic interfaces or robot control. As haptics are of paramount importance in this tight type of human-robot interaction, it is explored with respect to modality as well as temporal and spatial effects. The first part of the book motivates the research topic and gives an in-depth analysis of the experimental requirements. The second and third part present experimental designs and studies of human-robot body experience regarding the upper and lower limbs as well as cognitive models to predict them. The fourth part discusses a multitude of design considerations and provides directions to guide future research on bidirectional human-machine interfaces and non-functional haptic feedback.
Author: Michael A. Goodrich
Publisher: Now Publishers Inc
ISBN: 1601980922
Category : Computers
Languages : en
Pages : 89
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Book Description
Presents a unified treatment of HRI-related issues, identifies key themes, and discusses challenge problems that are likely to shape the field in the near future. The survey includes research results from a cross section of the universities, government efforts, industry labs, and countries that contribute to HRI.
Author: David Allen Bell
Publisher:
ISBN:
Category :
Languages : en
Pages : 316
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Book Description
Author: Giulio Rosati
Publisher: MDPI
ISBN: 3039289314
Category : Technology & Engineering
Languages : en
Pages : 294
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Book Description
This book disseminates the latest research achievements, findings, and ideas in the robotics field, with particular attention to the Italian scenario. Book coverage includes topics that are related to the theory, design, practice, and applications of robots, such as robot design and kinematics, dynamics of robots and multi-body systems, linkages and manipulators, control of robotic systems, trajectory planning and optimization, innovative robots and applications, industrial robotics, collaborative robotics, medical robotics, assistive robotics, and service robotics. Book contributions include, but are not limited to, revised and substantially extended versions of selected papers that have been presented at the 2nd International Conference of IFToMM Italy (IFIT 2018).
Author: Alyssa Kubota
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Cognitively assistive robots have great potential to improve the accessibility of healthcare services by extending existing clinical interventions to a person's home. This provides a variety of benefits, including extending the reach of professional services, allowing people to engage with these interventions at their own convenience, and reducing risk of exposure to illness at clinics. However, there are many obstacles to deploying these robots longitudinally and autonomously, particularly for populations with lower technology literacy such as older adults. These obstacles include enabling robots to leverage the expert domain knowledge of clinicians and other stakeholders, contextualizing the robot and intervention to the lives of users, and understanding and adapting to a person's intervention preferences and goals. The goal of my work is to design robots that can continuously learn from and adapt to people in real-world environments, which I explore in the context of delivering neurorehabilitation to people with cognitive impairments. In this dissertation, I will describe three main contributions of my work. First, I developed new methods to recognize complex motion reflective of real-world activities to enable robots to accurately understand human intention. Recognizing human activity can help robots understand a person's state and their reactions to its behavior. My work revealed the complementary strengths of two common sensor modalities for recognizing gross and fine motion, which can be leveraged to recognize complex activities and help robots better understand human intention. In addition, I designed a novel deep learning architecture for recognizing fine motion using nonvisual sensors, enabling robots to recognize human activity in dynamic, privacy sensitive settings such as homes. Second, I developed the first robotic system (JESSIE) which makes control synthesis accessible to novice programmers, allowing clinicians to quickly and easily specify complex robot behaviors through a tangible specification interface. Clinicians can provide robots with valuable domain and personal knowledge which can inform its behavior. My work revealed key insights regarding how robots can learn and adapt to people with cognitive impairments longitudinally at home. JESSIE makes control synthesis more accessible to novice programmers, enabling stakeholders to imbue robots with their domain knowledge and extend the reach of their work. Third, I developed an autonomous robot (CARMEN) which extends clinical interventions to the home, and longitudinally supports goal progress and motivation. In collaboration with clinicians and people with cognitive impairments, I identified interaction design patterns for translating clinical interventions to robots in order to maintain longitudinal engagement and maximize efficacy. Furthermore, I developed a new framework for roboticists creating longitudinal, robot-delivered health interventions with collaborative goal setting capabilities. My work lays the foundation for enabling robots to support motivation and goal achievement throughout a longitudinal intervention at home. My research contributes to building robotic systems which can longitudinally personalize their behavior to people in real-world environments. My work will transform how robots longitudinally interact with people, with the ultimate goal of enabling more safe and effective human-robot interaction, particularly for underserved populations.
