Achieving Autonomy by Learning from Sensor-Assisted Control in a Wheelchair-Based Human-Robot Collaborative System

通过学习基于轮椅的人机协作系统中的传感器辅助控制来实现自主性

• 批准号: 1826258
• 负责人: Rajiv Dubey
• 金额: $ 49.64万
• 依托单位: University of South Florida
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-01 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1826258&HistoricalAwards=false
• 关键词: Achieving; Autonomy; Learning; Sensor; Assisted

Individuals with sensorimotor impairment must often rely on others to help them perform common activities of daily living. The goal of this project is to improve independence and quality of life by creating an adaptive human-robot collaborative system (a wheelchair mounted robotic arm) that learns from example to assist its user perform instrumental activities in a way that requires minimal user guidance. The project has a novel intention recognition framework that learns user goals despite imprecision of telemanipulation cues provided by the user during object interactions. The project also implements and tests a novel form of shared control authority that adaptively allocates workload between the human and robot to optimally leverage the physical capabilities and cognitive resources of the user. By doing so, this project will improve the independence of individuals with sensorimotor impairment and increase the autonomy of a wheelchair mounted assistive robot, thereby advancing NSF's mission by promoting the progress of science and advancing the national health and welfare. The project will involve an educational component that provides training to graduate students in conducting research. The project also develops a hands-on exhibit in collaboration with the Tampa Museum of Science and Industry, allowing visitors to explore the field of rehabilitation engineering.This research investigates new control methodologies that promise improved autonomy in the control of a wheelchair mounted robotic arm operated by individuals with sensorimotor impairment. The project addresses key steps in the dexterous telemanipulation of objects: object detection, classification, and affordance modeling; user intention estimation; user / robot workload distribution; and algorithm training through teleoperation. Methods include computer vision, machine learning, probabilistic graphical modeling, and human subject experimentation to develop and test the collaborative human / robot system during performance of activities such as opening/closing doors with pull and knob style handles, and fetching objects in an unstructured populated environment. Effective application of the technology promises persons with physical disabilities opportunity to achieve a high level of independence, dignity, and quality of life.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

有感觉运动障碍的人必须经常依靠他人帮助他们进行日常生活的日常活动。该项目的目标是通过创建一个自适应的人机协作系统（安装在轮椅上的机器人手臂）来提高独立性和生活质量，该系统从示例中学习，以帮助用户以最少的用户指导方式进行工具活动。该项目有一个新的意图识别框架，学习用户的目标，尽管对象交互过程中由用户提供的遥控提示不精确。该项目还实现和测试了一种新形式的共享控制权限，该权限自适应地在人类和机器人之间分配工作负载，以最佳地利用用户的物理能力和认知资源。通过这样做，该项目将提高感觉运动障碍者的独立性，并提高轮椅辅助机器人的自主性，从而通过促进科学进步和促进国民健康和福利来推进NSF的使命。 该项目将包括一个教育部分，为研究生提供研究方面的培训。该项目还与坦帕科学与工业博物馆合作开发了一个动手展览，让参观者探索康复工程领域。这项研究调查了新的控制方法，承诺改善由感觉运动障碍者操作的轮椅安装机械臂的控制自主性。 该项目解决了对象的灵巧远程操作的关键步骤：对象检测，分类和启示建模;用户意图估计;用户/机器人工作负载分配;通过遥操作进行算法训练。方法包括计算机视觉、机器学习、概率图形建模和人类受试者实验，以在执行活动期间开发和测试协作的人类/机器人系统，所述活动例如是用拉手和旋钮式把手打开/关闭门，以及在非结构化的人口密集环境中获取对象。 该技术的有效应用保证了身体残疾人有机会实现高度的独立性、尊严和生活质量。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

LocaliseBot: Multi-view 3D Object Localisation with Differentiable Rendering for Robot Grasping

• DOI: 10.1007/978-3-031-25075-0_47
• 发表时间: 2023-11
• 作者: Sujal Vijayaraghavan;Redwan Alqasemi;R. Dubey;Sudeep Sarkar

Development of Smartphone-Based Human-Robot Interfaces for Individuals With Disabilities

• DOI: 10.1109/lra.2020.3010453
• 发表时间: 2020-10-01
• 期刊: IEEE ROBOTICS AND AUTOMATION LETTERS
• 影响因子: 5.2
• 作者: Wu, Lei;Alqasemi, Redwan;Dubey, Rajiv
• 通讯作者: Dubey, Rajiv

Formulation and Validation of an Intuitive Quality Measure for Antipodal Grasp Pose Evaluation

用于反足抓取姿势评估的直观质量测量的制定和验证

• DOI: 10.1109/lra.2021.3096192
• 发表时间: 2021
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Tan, Tian;Alqasemi, Redwan;Dubey, Rajiv;Sarkar, Sudeep
• 通讯作者: Sarkar, Sudeep

Programming by demonstration using learning based approach: A Mini review

使用基于学习的方法进行演示编程：迷你回顾

• DOI: 10.5038/imrt5980
• 发表时间: 2023
• 期刊: 36th Florida Conference on Recent Advances in Robotics
• 作者: Acharya, Atul;Dubey, Rajiv;Alqasemi, Redwan
• 通讯作者: Alqasemi, Redwan