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Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction [article]

Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M. Tsui, Alex Alspach
2022 arXiv   pre-print
We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate whole-body rich-contact manipulation strategies for handling large objects.  ...  We leverage the mechanical intelligence and tactile sensing of these modules to develop and demonstrate motion primitives for whole-body grasping.  ...  ACKNOWLEDGEMENTS Thank you Sam Creasey, Tristan Whiting, Phoebe Horgan, Richard Denitto, Liam Rondon, Adeeb Abbas, and Sean Taylor for engineering, experimental, filming, and paper graphics support.  ... 
arXiv:2111.09354v3 fatcat:a6fiabaz4rbrvegdpz2d7kzn7u

A mechatronic platform for early diagnosis of neurodevelopmental disorders

Domenico Campolo, Cecilia Laschi, Flavio Keller, Eugenio Guglielmelli
2007 Advanced Robotics  
Guidelines for the design of a particular toy embedding both kinematics and force sensing capabilities as well as of experimental scenarios where similar instrumented toys can be deployed are provided.  ...  Neurodevelopmental Engineering is a new interdisciplinary research area at the intersection of developmental neuroscience and bioengineering, mainly concerned with quantitative analysis and modeling of  ...  Acknowledgement This work was supported by a grant from the European Union, FP6-NEST/ADVENTURE program, contract no. 015636.  ... 
doi:10.1163/156855307781389392 fatcat:o2bnntzq6bb6ppzvic7mwbiwva

A Survey of Robots in Healthcare

Maria Kyrarini, Fotios Lygerakis, Akilesh Rajavenkatanarayanan, Christos Sevastopoulos, Harish Ram Nambiappan, Kodur Krishna Chaitanya, Ashwin Ramesh Babu, Joanne Mathew, Fillia Makedon
2021 Technologies  
In recent years, with the current advancements in Robotics and Artificial Intelligence (AI), robots have the potential to support the field of healthcare.  ...  Robotic systems are often introduced in the care of the elderly, children, and persons with disabilities, in hospitals, in rehabilitation and walking assistance, and other healthcare situations.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/technologies9010008 fatcat:qchddjelzjdvde2sgb2ghe67ne

Technology-Aided Assessment of Sensorimotor Function in Early Infancy

Alessandro G. Allievi, Tomoki Arichi, Anne L. Gordon, Etienne Burdet
2014 Frontiers in Neurology  
There is a pressing need for new techniques capable of providing accurate information about sensorimotor function during the first 2 years of childhood.  ...  Such tools could bring a wealth of knowledge about the underlying pathophysiological processes of diseases such as cerebral palsy; act as biomarkers to monitor the effects of possible therapeutic interventions  ...  Light-weight sensors and robot-assisted assessment tasks can also be designed around everyday objects and motor behavior (such as turning a door handle or pouring a drink).  ... 
doi:10.3389/fneur.2014.00197 pmid:25324827 pmcid:PMC4181230 fatcat:euxevl5w5bcxjmvafs36lhxrjq

Robotic Assistance in Medication Intake: A Complete Pipeline

Ioannis Kostavelis, Andreas Kargakos, Evangelos Skartados, Georgia Peleka, Dimitrios Giakoumis, Iason Sarantopoulos, Ioannis Agriomallos, Zoe Doulgeri, Satoshi Endo, Heiko Stüber, Faris Janjoš, Sandra Hirche (+1 others)
2022 Applied Sciences  
This paper presents a novel and complete pipeline for assistance provision in monitoring and serving of medication, using a mobile manipulator embedded with action, perception and cognition skills.  ...  Robot navigation is applied for the medication delivery, which, combined with active vision methods, enables the automatic selection of parking positions, allowing efficient interaction and monitoring  ...  The RGB-D sensor is utilized for the mapping, the environment monitoring and the human tracking.  ... 
doi:10.3390/app12031379 fatcat:2toroyaimvdappjp46swhiwf4a

An fMRI Compatible Smart Device for Measuring Palmar Grasping Actions in Newborns

Daniela Lo Presti, Sofia Dall'Orso, Silvia Muceli, Tomoki Arichi, Sara Neumane, Anna Lukens, Riccardo Sabbadini, Carlo Massaroni, Michele Arturo Caponero, Domenico Formica, Etienne Burdet, Emiliano Schena
2020 Sensors  
Firstly, the SGD design, fabrication, and metrological characterization are described, followed by preliminary assessments on a preterm newborn infant and an adult during an fMRI experiment.  ...  Grasping is one of the first dominant motor behaviors that enable interaction of a newborn infant with its surroundings.  ...  The study was conducted in accordance with the Declaration of Helsinki, and the protocol was approved by the UK NHS research Ethics Committee (12/LO/1247).  ... 
doi:10.3390/s20216040 pmid:33114180 pmcid:PMC7660640 fatcat:7afyytth5rhipjnyq6zlepyaei

Current Trends and Challenges in Pediatric Access to Sensorless and Sensor-Based Upper Limb Exoskeletons

Guillaume Gaudet, Maxime Raison, Sofiane Achiche
2021 Sensors  
Sensor-based exoskeletons are often the best solution for children to improve their participation in activities of daily living and limit cognitive, social, and motor impairments during their development  ...  First, the principal diagnoses in pediatrics and their respective challenge are presented. A total of 14 upper limb exoskeletons aimed for pediatric use were identified in the literature.  ...  The distal module comes in two different sizes: a small one for children aged 5-13 and a large one for children aged 13 and older.  ... 
doi:10.3390/s21103561 pmid:34065366 fatcat:pn5ft52karh6ljofgduungkp5y

Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

Wael Othman, Zhi-Han A. Lai, Carlos Abril, Juan S. Barajas-Gamboa, Ricard Corcelles, Matthew Kroh, Mohammad A. Qasaimeh
2022 Frontiers in Robotics and AI  
Designing, fabricating, and integrating force sensors onto different locations on the surgical tools are currently under development by several companies and research groups.  ...  In this context, electrical force sensing modality, including piezoelectric, resistive, and capacitive sensors, is the most conventionally considered approach to measure the grasping force, manipulation  ...  A wireless smart insole integrated with a stretchable microfluidic sensor was developed for gait monitoring (Low et al., 2020) .  ... 
doi:10.3389/frobt.2021.705662 pmid:35071332 pmcid:PMC8777132 fatcat:ngl76gcwkzarpg2j7oawpctzti

Smart walkers: an application-oriented review

Solenne Page, Ludovic Saint-Bauzel, Pierre Rumeau, Viviane Pasqui
2016 Robotica (Cambridge. Print)  
SUMMARY In this paper, a development method for smart walker prototypes is proposed. Development of such prototypes is based on technological choices and device evaluations.  ...  The method is aimed at guiding technological choices in a modular fashion. First, the method for choosing modules to be integrated in a smart walker is presented.  ...  This kind of questionnaire can contribute early in the design phase, but also in the middle phase of development and subsequently, at the end of the development 70 with staff and older adults.  ... 
doi:10.1017/s0263574716000023 fatcat:326nzzk5mrcw5drjn5nmks2oze

Service Robots in the Healthcare Sector

Jane Holland, Liz Kingston, Conor McCarthy, Eddie Armstrong, Peter O'Dwyer, Fionn Merz, Mark McConnell
2021 Robotics  
Furthermore, the COVID-19 pandemic has acted as a catalyst for the development of service robots in the healthcare sector in an attempt to overcome the difficulties and hardships caused by this virus.  ...  This paper presents a review of various types of robotic technologies and their uses in the healthcare sector.  ...  Another robot designed to act as a companion for the older adults is the TIAGo (Figure 12b ) robot developed by PAL Robotics [51] .  ... 
doi:10.3390/robotics10010047 fatcat:mgkfi3ghgbebxc4j5almkbgzni

Safety Assessment Review of a Dressing Assistance Robot

Daniel Delgado Bellamy, Gregory Chance, Praminda Caleb-Solly, Sanja Dogramadzi
2021 Frontiers in Robotics and AI  
Physically assistive tasks in which a range of dynamic contexts require continuous human–robot physical interaction such as e.g., robot-assisted dressing or sit-to-stand pose a new paradigm for safe design  ...  For these types of tasks, considerations have to be made for a range of dynamic contexts where the robot-assistance requires close and continuous physical contact with users.  ...  Chris Harper for his active work proofreading, reviewing and recommending improvements for the safety aspects of this paper.  ... 
doi:10.3389/frobt.2021.667316 fatcat:gqo5j3pwbjcpvmdm6cd4g3lmda

Exercise Programming and Control System of the Leg Rehabilitation Robot RRH1 [chapter]

Marcin Kaczmarski, Grzegorz Granosik
2012 Lecture notes in control and information sciences  
In addition, a control scheme has been designed for the String-Man to control both the zero-moment-point location and the ground reaction force with the help of foot force sensors.  ...  back to the user's shoulder muscle force sensors so that the user can gauge the strength of the grasp.  ... 
doi:10.1007/978-1-4471-2343-9_34 fatcat:vxeumduqunarbfbwgffxa6mywq

User-Centered Design of a Dynamic-Autonomy Remote Interaction Concept for Manipulation-Capable Robots to Assist Elderly People in the Home

Marcus Mast, Michael Burmester, Katja Kruger, Sascha Fatikow, Georg Arbeiter, Birgit Graf, Gernot Kronreif, Lucia Pigini, David Facal, Renxi Qiu
2012 Journal of Human-Robot Interaction  
three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments.  ...  In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks.  ...  Acknowledgement The work presented in this article was carried out as part of the research project "Multi-Role Shadow Robotic System for Independent Living" (SRS), funded by the European Commission under  ... 
doi:10.5898/jhri.1.1.mast fatcat:wvipkvtrmvcmrauqz2qu7c67n4

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

Frank Guerin, Norbert Kruger, Dirk Kraft
2013 IEEE Transactions on Autonomous Mental Development  
the developmental process; and 4) the formulation of a number of challenges and recommendations for designing artificial systems that exhibit tool use abilities in complex contexts.  ...  In this paper, we review current knowledge on tool use development in infants in order to provide relevant information to cognitive developmental roboticists seeking to design artificial systems that develop  ...  Lam for the artwork and J. Alexander and B. Grzyb for providing Internet links to useful references.  ... 
doi:10.1109/tamd.2012.2209879 fatcat:3tf2oe2buvhk5ltxeeyb22drle

NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro

Max Schwarz, Tobias Rodehutskors, David Droeschel, Marius Beul, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Christian Lenz, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou (+1 others)
2016 Journal of Field Robotics  
Robots that solve complex tasks in environments too dangerous for humans to enter are desperately needed, e.g. for search and rescue applications.  ...  It features a unique locomotion design with four legs ending in steerable wheels, which allows it both to drive omnidirectionally and to step over obstacles or climb.  ...  On top of its flexible base, Momaro has an anthropomorphic upper body consisting of two adult-sized, 7 DOF arms (see Figs. 1 and 3) and a sensor head.  ... 
doi:10.1002/rob.21677 fatcat:rh4qly5cfffaha5vr77z2aptbe
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