Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Erickson, Zackory; Clever, Henry M.; Gangaram, Vamsee; Turk, Greg; Liu, C. Karen; Kemp, Charles C.

Title:

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

dc.contributor.author	Erickson, Zackory
dc.contributor.author	Clever, Henry M.
dc.contributor.author	Gangaram, Vamsee
dc.contributor.author	Turk, Greg
dc.contributor.author	Liu, C. Karen
dc.contributor.author	Kemp, Charles C.
dc.contributor.corporatename	Georgia Institute of Technology. Rehabilitation Engineering Research Center on Technologies to Support Successful Aging With Disability	en_US
dc.contributor.corporatename	Georgia Institute of Technology. Healthcare Robotics Lab	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Interactive Computing	en_US
dc.date.accessioned	2019-06-28T19:58:07Z
dc.date.available	2019-06-28T19:58:07Z
dc.date.issued	2019-05-24
dc.description.abstract	Robotic assistance presents an opportunity to beneﬁt the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difﬁcult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key beneﬁt of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot’s end effector. A neural network model estimates the position of the closest point on a person’s limb and the orientation of the limb’s central axis relative to the sensor’s frame of reference. These pose estimates enable the robot to move its end effector with respect to the limb using feedback control. We demonstrate that a PR2 robot can use this approach with a custom six electrode capacitive sensor to assist with two activities of daily living— dressing and bathing. The robot pulled the sleeve of a hospital gown onto able-bodied participants’ right arms, while tracking human motion. When assisting with bathing, the robot moved a soft wet washcloth to follow the contours of able-bodied participants’ limbs, cleaning their surfaces. Overall, we found that multidimensional capacitive sensing presents a promising approach for robots to sense and track the human body during assistive tasks that require physical human-robot interaction.	en_US
dc.identifier.citation	Erickson, Z. M., Clever, H. M., Gangaram, V., Turk, G., Liu, C., & Kemp, C. C. (2019). Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing. ArXiv, abs/1904.02111.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/61464
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.subject	Aging	en_US
dc.subject	Aging with disability	en_US
dc.subject	Assistive technology	en_US
dc.subject	Disability	en_US
dc.subject	Mobility	en_US
dc.subject	Motor deficit	en_US
dc.subject	Robot	en_US
dc.subject	Robotic assistance	en_US
dc.subject	Technology	en_US
dc.title	Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing	en_US
dc.type	Text
dc.type.genre	Paper
dspace.entity.type	Publication
local.contributor.author	Turk, Greg
local.contributor.author	Kemp, Charles C.
local.contributor.corporatename	Rehabilitation Engineering Research Center on Technologies to Support Aging-in-Place for People with Long-Term Disabilities
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