Title:
Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance
Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance
| dc.contributor.author | Grice, Phillip M. | en_US |
| dc.contributor.author | Killpack, Marc D. | en_US |
| dc.contributor.author | Jain, Advait | en_US |
| dc.contributor.author | Vaish, Sarvagya | en_US |
| dc.contributor.author | Hawke, Jeffrey | en_US |
| dc.contributor.author | Kemp, Charles C. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Healthcare Robotics Lab | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Dept. of Biomedical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2013-12-18T21:36:29Z | |
| dc.date.available | 2013-12-18T21:36:29Z | |
| dc.date.issued | 2013-06 | |
| dc.description | ©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, 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 components of this work in other works. | en_US |
| dc.description | Presented at the IEEE International Conference on Rehabilitation Robotics (ICORR) 24-26 June 2013. | en_US |
| dc.description | DOI: 10.1109/ICORR.2013.6650464 | en_US |
| dc.description.abstract | Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector to poses near the care-receiver's body. However, perceiving and maneuvering around the care-receiver's body can be challenging due to a variety of issues, including convoluted geometry, compliant materials, body motion, hidden surfaces, and the object upon which the body is resting (e.g., a wheelchair or bed). Using geometric simulations, we first show that an assistive robot can achieve a much larger percentage of end-effector poses near the care-receiver's body if its arm is allowed to make contact. Second, we present a novel system with a custom controller and whole-arm tactile sensor array that enables a Willow Garage PR2 to regulate contact forces across its entire arm while moving its end effector to a commanded pose. We then describe tests with two people with motor impairments, one of whom used the system to grasp and pull a blanket over himself and to grab a cloth and wipe his face, all while in bed at his home. Finally, we describe a study with eight able-bodied users in which they used the system to place objects near their bodies. On average, users perceived the system to be safe and comfortable, even though substantial contact occurred between the robot's arm and the user's body. | en_US |
| dc.identifier.citation | Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance, Phillip M. Grice, Marc D. Killpack, Advait Jain, Sarvagya Vaish, Jeffrey Hawke, and Charles C. Kemp, 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), vol. 2., 1,8, 24-26 June 2013. | en_US |
| dc.identifier.doi | 10.1109/ICORR.2013.6650464 | |
| dc.identifier.isbn | 978-1-4673-6022-7 | |
| dc.identifier.issn | 1945-7898 | |
| dc.identifier.uri | http://hdl.handle.net/1853/49848 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Assistive robot technology | en_US |
| dc.subject | Assistive task | en_US |
| dc.subject | End-effector | en_US |
| dc.subject | Motor impairment | en_US |
| dc.subject | Self-care tasks | en_US |
| dc.title | Whole-arm Tactile Sensing for Beneficial and Acceptable Contact During Robotic Assistance | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Kemp, Charles C. | |
| local.contributor.corporatename | Healthcare Robotics Lab | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | e4f743b9-0557-4889-a16e-00afe0715f4c | |
| relation.isOrgUnitOfPublication | c6394b0e-6e8b-42dc-aeed-0e22560bd6f1 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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