Learning From Natural Human Interactions For Assistive Robots

Download Learning From Natural Human Interactions For Assistive Robots full books in PDF, epub, and Kindle. Read online Learning From Natural Human Interactions For Assistive Robots ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!

Learning from Natural Human Interactions for Assistive Robots

Author : Ashesh Jain
Publisher :
ISBN 13 :
Total Pages : 220 pages
Book Rating : 4.:/5 (954 download)

DOWNLOAD NOW!

Book Synopsis Learning from Natural Human Interactions for Assistive Robots by : Ashesh Jain

Download or read book Learning from Natural Human Interactions for Assistive Robots written by Ashesh Jain and published by . This book was released on 2016 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Leveraging human knowledge to train robots is a core problem in robotics. In the near future we will see humans interacting with agents such as, assistive robots, cars, smart houses, etc. Agents that can elicit and learn from such interactions will find use in many applications. Previous works have proposed methods for learning low-level robotic controls or motion primitives from (near) optimal human signals. In many applications such signals are not naturally available. Furthermore, optimal human signals are also difficult to elicit from non-expert users at a large scale. Understanding and learning user preferences from weak signals is therefore of great emphasis. To this end, in this dissertation we propose interactive learning systems which allow robots to learn by interacting with humans. We develop interaction methods that are natural to the end-user, and algorithms to learn from sub-optimal interactions. Furthermore, the interactions between humans and robots have complex spatio-temporal structure. Inspired by the recent success of powerful function approximators based on deep neural networks, we propose a generic framework for modeling interactions with structure of Recurrent Neural Networks. We demonstrate applications of our work on real-world scenarios on assistive robots and cars. This work also established state-of-the-art on several existing benchmarks.

Interactive Task Learning

Author : Kevin A. Gluck
Publisher : MIT Press
ISBN 13 : 0262349434
Total Pages : 355 pages
Book Rating : 4.2/5 (623 download)

DOWNLOAD NOW!

Book Synopsis Interactive Task Learning by : Kevin A. Gluck

Download or read book Interactive Task Learning written by Kevin A. Gluck and published by MIT Press. This book was released on 2019-08-16 with total page 355 pages. Available in PDF, EPUB and Kindle. Book excerpt: Experts from a range of disciplines explore how humans and artificial agents can quickly learn completely new tasks through natural interactions with each other. Humans are not limited to a fixed set of innate or preprogrammed tasks. We learn quickly through language and other forms of natural interaction, and we improve our performance and teach others what we have learned. Understanding the mechanisms that underlie the acquisition of new tasks through natural interaction is an ongoing challenge. Advances in artificial intelligence, cognitive science, and robotics are leading us to future systems with human-like capabilities. A huge gap exists, however, between the highly specialized niche capabilities of current machine learning systems and the generality, flexibility, and in situ robustness of human instruction and learning. Drawing on expertise from multiple disciplines, this Strüngmann Forum Report explores how humans and artificial agents can quickly learn completely new tasks through natural interactions with each other. The contributors consider functional knowledge requirements, the ontology of interactive task learning, and the representation of task knowledge at multiple levels of abstraction. They explore natural forms of interactions among humans as well as the use of interaction to teach robots and software agents new tasks in complex, dynamic environments. They discuss research challenges and opportunities, including ethical considerations, and make proposals to further understanding of interactive task learning and create new capabilities in assistive robotics, healthcare, education, training, and gaming. Contributors Tony Belpaeme, Katrien Beuls, Maya Cakmak, Joyce Y. Chai, Franklin Chang, Ropafadzo Denga, Marc Destefano, Mark d'Inverno, Kenneth D. Forbus, Simon Garrod, Kevin A. Gluck, Wayne D. Gray, James Kirk, Kenneth R. Koedinger, Parisa Kordjamshidi, John E. Laird, Christian Lebiere, Stephen C. Levinson, Elena Lieven, John K. Lindstedt, Aaron Mininger, Tom Mitchell, Shiwali Mohan, Ana Paiva, Katerina Pastra, Peter Pirolli, Roussell Rahman, Charles Rich, Katharina J. Rohlfing, Paul S. Rosenbloom, Nele Russwinkel, Dario D. Salvucci, Matthew-Donald D. Sangster, Matthias Scheutz, Julie A. Shah, Candace L. Sidner, Catherine Sibert, Michael Spranger, Luc Steels, Suzanne Stevenson, Terrence C. Stewart, Arthur Still, Andrea Stocco, Niels Taatgen, Andrea L. Thomaz, J. Gregory Trafton, Han L. J. van der Maas, Paul Van Eecke, Kurt VanLehn, Anna-Lisa Vollmer, Janet Wiles, Robert E. Wray III, Matthew Yee-King

Machine Learning Techniques for Assistive Robotics

Author : Miguel Angel Cazorla Quevedo
Publisher : MDPI
ISBN 13 : 3039363387
Total Pages : 210 pages
Book Rating : 4.0/5 (393 download)

DOWNLOAD NOW!

Book Synopsis Machine Learning Techniques for Assistive Robotics by : Miguel Angel Cazorla Quevedo

Download or read book Machine Learning Techniques for Assistive Robotics written by Miguel Angel Cazorla Quevedo and published by MDPI. This book was released on 2020-12-10 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: Assistive robots are categorized as robots that share their area of work and interact with humans. Their main goals are to help, assist, and monitor humans, especially people with disabilities. To achieve these goals, it is necessary that these robots possess a series of characteristics, namely the abilities to perceive their environment from their sensors and act consequently, to interact with people in a multimodal manner, and to navigate and make decisions autonomously. This complexity demands computationally expensive algorithms to be performed in real time. The advent of high-end embedded processors has enabled several such algorithms to be processed concurrently and in real time. All these capabilities involve, to a greater or less extent, the use of machine learning techniques. In particular, in the last few years, new deep learning techniques have enabled a very important qualitative leap in different problems related to perception, navigation, and human understanding. In this Special Issue, several works are presented involving the use of machine learning techniques for assistive technologies, in particular for assistive robots.

Interactive Task Learning

Author : Kevin A. Gluck
Publisher : MIT Press
ISBN 13 : 026203882X
Total Pages : 355 pages
Book Rating : 4.2/5 (62 download)

DOWNLOAD NOW!

Book Synopsis Interactive Task Learning by : Kevin A. Gluck

Download or read book Interactive Task Learning written by Kevin A. Gluck and published by MIT Press. This book was released on 2019-09-10 with total page 355 pages. Available in PDF, EPUB and Kindle. Book excerpt: Experts from a range of disciplines explore how humans and artificial agents can quickly learn completely new tasks through natural interactions with each other. Humans are not limited to a fixed set of innate or preprogrammed tasks. We learn quickly through language and other forms of natural interaction, and we improve our performance and teach others what we have learned. Understanding the mechanisms that underlie the acquisition of new tasks through natural interaction is an ongoing challenge. Advances in artificial intelligence, cognitive science, and robotics are leading us to future systems with human-like capabilities. A huge gap exists, however, between the highly specialized niche capabilities of current machine learning systems and the generality, flexibility, and in situ robustness of human instruction and learning. Drawing on expertise from multiple disciplines, this Strüngmann Forum Report explores how humans and artificial agents can quickly learn completely new tasks through natural interactions with each other. The contributors consider functional knowledge requirements, the ontology of interactive task learning, and the representation of task knowledge at multiple levels of abstraction. They explore natural forms of interactions among humans as well as the use of interaction to teach robots and software agents new tasks in complex, dynamic environments. They discuss research challenges and opportunities, including ethical considerations, and make proposals to further understanding of interactive task learning and create new capabilities in assistive robotics, healthcare, education, training, and gaming. Contributors Tony Belpaeme, Katrien Beuls, Maya Cakmak, Joyce Y. Chai, Franklin Chang, Ropafadzo Denga, Marc Destefano, Mark d'Inverno, Kenneth D. Forbus, Simon Garrod, Kevin A. Gluck, Wayne D. Gray, James Kirk, Kenneth R. Koedinger, Parisa Kordjamshidi, John E. Laird, Christian Lebiere, Stephen C. Levinson, Elena Lieven, John K. Lindstedt, Aaron Mininger, Tom Mitchell, Shiwali Mohan, Ana Paiva, Katerina Pastra, Peter Pirolli, Roussell Rahman, Charles Rich, Katharina J. Rohlfing, Paul S. Rosenbloom, Nele Russwinkel, Dario D. Salvucci, Matthew-Donald D. Sangster, Matthias Scheutz, Julie A. Shah, Candace L. Sidner, Catherine Sibert, Michael Spranger, Luc Steels, Suzanne Stevenson, Terrence C. Stewart, Arthur Still, Andrea Stocco, Niels Taatgen, Andrea L. Thomaz, J. Gregory Trafton, Han L. J. van der Maas, Paul Van Eecke, Kurt VanLehn, Anna-Lisa Vollmer, Janet Wiles, Robert E. Wray III, Matthew Yee-King

Machine Learning Techniques for Assistive Robotics

Author : Miguel Quevedo
Publisher :
ISBN 13 : 9783039363391
Total Pages : 210 pages
Book Rating : 4.3/5 (633 download)

DOWNLOAD NOW!

Book Synopsis Machine Learning Techniques for Assistive Robotics by : Miguel Quevedo

Download or read book Machine Learning Techniques for Assistive Robotics written by Miguel Quevedo and published by . This book was released on 2020 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: Assistive robots are categorized as robots that share their area of work and interact with humans. Their main goals are to help, assist, and monitor humans, especially people with disabilities. To achieve these goals, it is necessary that these robots possess a series of characteristics, namely the abilities to perceive their environment from their sensors and act consequently, to interact with people in a multimodal manner, and to navigate and make decisions autonomously. This complexity demands computationally expensive algorithms to be performed in real time. The advent of high-end embedded processors has enabled several such algorithms to be processed concurrently and in real time. All these capabilities involve, to a greater or less extent, the use of machine learning techniques. In particular, in the last few years, new deep learning techniques have enabled a very important qualitative leap in different problems related to perception, navigation, and human understanding. In this Special Issue, several works are presented involving the use of machine learning techniques for assistive technologies, in particular for assistive robots.

Advances in Human-Robot Interaction

Author : Erwin Prassler
Publisher : Springer Science & Business Media
ISBN 13 : 9783540232117
Total Pages : 434 pages
Book Rating : 4.2/5 (321 download)

DOWNLOAD NOW!

Book Synopsis Advances in Human-Robot Interaction by : Erwin Prassler

Download or read book Advances in Human-Robot Interaction written by Erwin Prassler and published by Springer Science & Business Media. This book was released on 2004-10-27 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.

Human-robot Interaction

Author : Michael A. Goodrich
Publisher : Now Publishers Inc
ISBN 13 : 1601980922
Total Pages : 89 pages
Book Rating : 4.6/5 (19 download)

DOWNLOAD NOW!

Book Synopsis Human-robot Interaction by : Michael A. Goodrich

Download or read book Human-robot Interaction written by Michael A. Goodrich and published by Now Publishers Inc. This book was released on 2007 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Basic Human-robot Interaction

Author : David O Johnson
Publisher : World Scientific
ISBN 13 : 9811282862
Total Pages : 325 pages
Book Rating : 4.8/5 (112 download)

DOWNLOAD NOW!

Book Synopsis Basic Human-robot Interaction by : David O Johnson

Download or read book Basic Human-robot Interaction written by David O Johnson and published by World Scientific. This book was released on 2024-02-21 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book's content is designed to provide practical guidance and insights for conducting experiments in Human-Robot Interaction (HRI) and publishing the results in scientific journals. It includes a detailed explanation of how to conduct HRI experiments and what to do and what not to do to get an article accepted for publication. It is tailored to those seeking to deepen their understanding of HRI methodologies, statistical measurements, and research design. The case studies and examples featured in the book focus on interactions between social robots and specific demographics such as children and older adults, making it relevant for individuals working in healthcare, education, and related domains.Also covered are common statistical measurements used in HRI research and quantitative, qualitative, and meta-analyses. The concepts are illustrated with several international case studies of interactions between social robots and children and older adults and robot learning instead of programming. The final chapter explores current trends in HRI and provides insights into what to look for in the coming years. It includes an extensive reference section to help HRI researchers in all these areas.This book will appeal to an international audience of advanced students, researchers, industry, and others who are actively engaged or interested in the field of HRI.

Robot Learning from Human Demonstration

Author : Sonia Dechter
Publisher : Springer Nature
ISBN 13 : 3031015703
Total Pages : 109 pages
Book Rating : 4.0/5 (31 download)

DOWNLOAD NOW!

Book Synopsis Robot Learning from Human Demonstration by : Sonia Dechter

Download or read book Robot Learning from Human Demonstration written by Sonia Dechter and published by Springer Nature. This book was released on 2022-06-01 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: Learning from Demonstration (LfD) explores techniques for learning a task policy from examples provided by a human teacher. The field of LfD has grown into an extensive body of literature over the past 30 years, with a wide variety of approaches for encoding human demonstrations and modeling skills and tasks. Additionally, we have recently seen a focus on gathering data from non-expert human teachers (i.e., domain experts but not robotics experts). In this book, we provide an introduction to the field with a focus on the unique technical challenges associated with designing robots that learn from naive human teachers. We begin, in the introduction, with a unification of the various terminology seen in the literature as well as an outline of the design choices one has in designing an LfD system. Chapter 2 gives a brief survey of the psychology literature that provides insights from human social learning that are relevant to designing robotic social learners. Chapter 3 walks through an LfD interaction, surveying the design choices one makes and state of the art approaches in prior work. First, is the choice of input, how the human teacher interacts with the robot to provide demonstrations. Next, is the choice of modeling technique. Currently, there is a dichotomy in the field between approaches that model low-level motor skills and those that model high-level tasks composed of primitive actions. We devote a chapter to each of these. Chapter 7 is devoted to interactive and active learning approaches that allow the robot to refine an existing task model. And finally, Chapter 8 provides best practices for evaluation of LfD systems, with a focus on how to approach experiments with human subjects in this domain.

Human-in-the-Loop Robot Control and Learning

Author : Luka Peternel
Publisher : Frontiers Media SA
ISBN 13 : 2889633128
Total Pages : 229 pages
Book Rating : 4.8/5 (896 download)

DOWNLOAD NOW!

Book Synopsis Human-in-the-Loop Robot Control and Learning by : Luka Peternel

Download or read book Human-in-the-Loop Robot Control and Learning written by Luka Peternel and published by Frontiers Media SA. This book was released on 2020-01-22 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Learning Socially Assistive Robot Behaviors for Personalized Human-Robot Interaction

Author : Christina Moro
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (133 download)

DOWNLOAD NOW!

Book Synopsis Learning Socially Assistive Robot Behaviors for Personalized Human-Robot Interaction by : Christina Moro

Download or read book Learning Socially Assistive Robot Behaviors for Personalized Human-Robot Interaction written by Christina Moro and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Caregivers play a crucial role in assisting seniors having difficulty accomplishing activities of daily living (ADLs) due to physical or cognitive limitations. A global decline in the caregiver-to-senior ratio is making it increasingly more difficult to care for these seniors. Socially assistive robots are promising alternative technologies for supporting seniors in living independently. However, limited research has gone into developing a learning-based method for designing assistive robot behaviors. This thesis aims to: (1) identify the key features necessary for assistive robots supporting seniors with cognitive impairments in completing ADLs; and (2) develop a novel behavior-learning architecture to teach robots how to display assistive behaviors using expert demonstrations and personalize these learned behaviors to the seniorâ s cognition using reinforcement learning to increase task performance. Experiments with a socially assistive robot validated the robotâ s ability to learn and personalize new behaviors to a userâ s cognition from expert demonstration using the proposed architecture.

Human-Robot Interaction Control Using Reinforcement Learning

Author : Wen Yu
Publisher : John Wiley & Sons
ISBN 13 : 1119782767
Total Pages : 288 pages
Book Rating : 4.1/5 (197 download)

DOWNLOAD NOW!

Book Synopsis Human-Robot Interaction Control Using Reinforcement Learning by : Wen Yu

Download or read book Human-Robot Interaction Control Using Reinforcement Learning written by Wen Yu and published by John Wiley & Sons. This book was released on 2021-10-06 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive exploration of the control schemes of human-robot interactions In Human-Robot Interaction Control Using Reinforcement Learning, an expert team of authors delivers a concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learning offers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms. It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authors also discuss advanced and cutting-edge topics, like inverse and velocity kinematics solutions, H2 neural control, and likely upcoming developments in the field of robotics. Readers will also enjoy: A thorough introduction to model-based human-robot interaction control Comprehensive explorations of model-free human-robot interaction control and human-in-the-loop control using Euler angles Practical discussions of reinforcement learning for robot position and force control, as well as continuous time reinforcement learning for robot force control In-depth examinations of robot control in worst-case uncertainty using reinforcement learning and the control of redundant robots using multi-agent reinforcement learning Perfect for senior undergraduate and graduate students, academic researchers, and industrial practitioners studying and working in the fields of robotics, learning control systems, neural networks, and computational intelligence, Human-Robot Interaction Control Using Reinforcement Learning is also an indispensable resource for students and professionals studying reinforcement learning.

Human-Robot Interaction: Emerging Technologies

Author : Martha Dixon
Publisher :
ISBN 13 : 9781632409300
Total Pages : 222 pages
Book Rating : 4.4/5 (93 download)

DOWNLOAD NOW!

Book Synopsis Human-Robot Interaction: Emerging Technologies by : Martha Dixon

Download or read book Human-Robot Interaction: Emerging Technologies written by Martha Dixon and published by . This book was released on 2020-09-08 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human-robot interaction (HRI) is a field which studies the interactions between a human and a robot. It is a multidisciplinary field that is based on the principles of artificial intelligence, robotics, human-computer interaction, design, natural language understanding and social sciences. Robots and humans are increasingly sharing the workspace due to the ever widening applicability of robots in different domains. The study of HRI becomes pertinent in this changing landscape, to improve utility and evaluate the benefits or risks of such close interaction. The goal of HRI is to create an easy and intuitive communication with the medium of gestures, speech and facial expressions. Research in HRI is exploring the boundaries of motion planning, human perception, human-robot coordination, etc. An emerging direction of robot application has been the use of assistive robots in schools, homes and hospitals to aid in physical activities, improve education, or act as companions. Military utility, space exploration, rehabilitation and elderly care, search and rescue, etc. are the other domains where HRI can be vital. There has been rapid progress in human-robot interaction and its applications are finding their way across multiple industries. This book traces the progress of this field and highlights some of its key concepts and applications. Researchers and students in this field will be assisted by this book.

Human-Friendly Robotics 2020

Author : Matteo Saveriano
Publisher : Springer Nature
ISBN 13 : 3030713563
Total Pages : 144 pages
Book Rating : 4.0/5 (37 download)

DOWNLOAD NOW!

Book Synopsis Human-Friendly Robotics 2020 by : Matteo Saveriano

Download or read book Human-Friendly Robotics 2020 written by Matteo Saveriano and published by Springer Nature. This book was released on 2021-03-06 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent methodological, technological, and experimental developments concerning human-friendly robots and their introduction into everyday life. The book contains a selection of 10 papers presented at the 13th edition of the International Workshop on Human-Friendly Robotics (HFR). The International Workshop on Human-Friendly Robotics (HFR) is an annual meeting that brings together academic scientists, researchers, and research scholars to present their latest, original findings on all aspects concerning human-friendly robotics where safe and dependable machines operate in close proximity to humans or directly interact with them in a wide range of contexts. The 13th edition was organized by the University of Innsbruck and took place in Innsbruck, Austria. The book is primarily intended for robotics researchers and postgraduates which are doing or willing to do research in fields related to human-friendly robotics, including human–robot interaction, robot control, robot learning, and intuitive interfaces. .

Intelligent Assistive Robots

Author : Samer Mohammed
Publisher : Springer
ISBN 13 : 3319129228
Total Pages : 452 pages
Book Rating : 4.3/5 (191 download)

DOWNLOAD NOW!

Book Synopsis Intelligent Assistive Robots by : Samer Mohammed

Download or read book Intelligent Assistive Robots written by Samer Mohammed and published by Springer. This book was released on 2015-03-26 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the growing challenges of using assistive robots in our everyday activities along with providing intelligent assistive services. The presented applications concern mainly healthcare and wellness such as helping elderly people, assisting dependent persons, habitat monitoring in smart environments, well-being, security, etc. These applications reveal also new challenges regarding control theory, mechanical design, mechatronics, portability, acceptability, scalability, security, etc.

A Study of Human-robot Interaction with an Assistive Robot to Help People with Severe Motor Impairments

Author : Young Sang Choi
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (522 download)

DOWNLOAD NOW!

Book Synopsis A Study of Human-robot Interaction with an Assistive Robot to Help People with Severe Motor Impairments by : Young Sang Choi

Download or read book A Study of Human-robot Interaction with an Assistive Robot to Help People with Severe Motor Impairments written by Young Sang Choi and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The thesis research aims to further the study of human-robot interaction (HRI) issues, especially regarding the development of an assistive robot designed to help individuals possessing motor impairments. In particular, individuals with amyotrophic lateral sclerosis (ALS), represent a potential user population that possess an array of motor impairment due to the progressive nature of the disease. Through review of the literature, an initial target for robotic assistance was determined to be object retrieval and delivery tasks to aid with dropped or otherwise unreachable objects, which represent a common and significant difficulty for individuals with limited motor capabilities. This thesis research has been conducted as part of a larger, collaborative project between the Georgia Institute of Technology and Emory University. To this end, we developed and evaluated a semi-autonomous mobile healthcare service robot named EL-E.I conducted four human studies involving patients with ALS with the following objectives: 1) to investigate and better understand the practical, everyday needs and limitations of people with severe motor impairments; 2) to translate these needs into pragmatic tasks or goals to be achieved through an assistive robot and reflect these needs and limitations into the robot's design; 3) to develop practical, usable, and effective interaction mechanisms by which the impaired users can control the robot; and 4) and to evaluate the performance of the robot and improve its usability. I anticipate that the findings from this research will contribute to the ongoing research in the development and evaluation of effective and affordable assistive manipulation robots, which can help to mitigate the difficulties, frustration, and lost independence experienced by individuals with significant motor impairments and improve their quality of life.

Designing Robot Behavior in Human-Robot Interactions

Author : Changliu Liu
Publisher : CRC Press
ISBN 13 : 0429608373
Total Pages : 236 pages
Book Rating : 4.4/5 (296 download)

DOWNLOAD NOW!

Book Synopsis Designing Robot Behavior in Human-Robot Interactions by : Changliu Liu

Download or read book Designing Robot Behavior in Human-Robot Interactions written by Changliu Liu and published by CRC Press. This book was released on 2019-09-12 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.