I-DRESS

该项目的主要目标是开发一个系统，主动协助残疾使用者或高危保健工作者等使用者穿衣服，他们在穿衣服时必须限制与服装的身体接触，以避免污染。提出的机器人系统由两个高度灵巧的机械臂、用于多模态人机交互的传感器和安全特性组成。该系统将由三个主要部分组成，每个部分都对辅助服务机器人领域产生重大影响：(a)用于用户和服装检测和跟踪的智能算法，专门为近距离和物理人机交互而设计；(b)基于多模态用户输入、环境建模和安全的认知功能，允许机器人决定何时以及如何协助用户；(c)先进的用户界面，促进直观和安全的物理和认知交互，以支持穿衣。该联盟由三个合作伙伴组成，为该项目所需的主要研究领域提供专业知识：CSIC-UPC将致力于感知和人机交互，IDIAP将致力于机器人学习，UWE-BRL将提供安全和界面设计方面的专业知识。开发的交互式系统将集成在商用WAM机械臂上，并通过两种辅助敷料场景的用户实验和人为因素分析进行验证。此外，开发的机器人安全功能和演示算法的学习将在百特机器人上实施，从而确保项目结果的普遍适用性和更容易被工业界和科学界接受。

The main objective of the project is to develop a system that will provide proactive assistance with dressing to disabled users or users such as high-risk health-care workers, whose physical contact with the garments must be limited during dressing to avoid contamination. The proposed robotic system consists of two highly dexterous robotic arms, sensors for multi-modal human-robot interaction and safety features.The system will comprise three major components, each of radical impact to the field of assistive service robotics: (a) intelligent algorithms for user and garment detection and tracking, specifically designed for close and physical human-robot interaction, (b) cognitive functions based on the multi-modal user input, environment modelling and safety, allowing the robot to decide when and how to assist the user, and (c) advanced user interface that facilitates intuitive and safe physical and cognitive interaction for support in dressing. The consortium consisting of three partners provides the expertise for the main lines of research required by the project: CSIC-UPC will work on perception and human-robot interaction, IDIAP will contribute to robot learning, and UWE-BRL will provide the expertise in safety and interface design. The developed interactive system will be integrated on commercial WAM robotic arms and validated through experimentation with users and human factor analysis in two assistive-dressing scenarios. Additionally, developed robot safety features and the learning by demonstration algorithms will be implemented on a Baxter robot, thus ensuring general applicability and easier acceptance of the project results by both industry and scientific community.