This paper presents the architecture and implementation of a tele-presence wheelchair system based on tele-presence robot, intelligent wheelchair, and touch screen technologies. The tele-presence wheelchair system consists of a commercial electric wheelchair, an add-on tele-presence interaction module, and a touchable live video image based user interface (called TIUI). The tele-presence interaction module is used to provide video-chatting for an elderly or disabled person with the family members or caregivers, and also captures the live video of an environment for tele-operation and semi-autonomous navigation. The user interface developed in our lab allows an operator to access the system anywhere and directly touch the live video image of the wheelchair to push it as if he/she did it in the presence. This paper also discusses the evaluation of the user experience.
National Institute of Technology Karnataka（卡纳塔克国家理工学院）
Spinal cord injuries can often lead to quadriplegia in patients limiting their mobility. Wheelchairs could be a good proposition for patients, but most of them operate either manually or with the help of electric motors operated with a joystick. This, however, requires the use of hands, making it unsuitable for quadriplegic patients. Controlling eye movement, on the other hand, is retained even by people who undergo brain injury. Monitoring the movements in the eye can be a helpful tool in generating control signals for the wheelchair. This paper is an approach to converting obtained signals f…
Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users high-level navigation plans. To find such a path, vehicles negotiate with different terrains and assess their traversal difficulty. Most prior works model surroundings either through geometric representations or semantic classifications, which do not reflect perceived motion intensity and ride comfort in downstream navigation tasks. We propose to model ride comfort explicitly in traversability analysis using proprioceptive sensing. We develop a self-supervised learning framework …
Input-gated Bilateral Teleoperation: An Easy-to-implement Force Feedback Teleoperation Method for Low-cost Hardware
Research & Development Group, Hitachi, Ltd.（日立株式会社研发部）；Department of Intermedia Art and Science School of Fundamental Science and Engineering, Waseda University（早稻田大学基础科学与工程学部多媒体艺术与科学系）
KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm
Department of Civil and Environmental Engineering, University of Michigan, United States of America（密歇根大学土木与环境工程系）；Department of Robotics, University of Michigan, United States of America（密歇根大学机器人系）
AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild
School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（上海交通大学电子信息与电气工程学院）；School of Mechanical Engineering, Shanghai Jiao Tong University（上海交通大学机械与动力工程学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）
Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulators
Degree Programs in Intelligent and Mechanical Interaction Systems, University of Tsukuba（智能与机械交互系统专业，东京大学）；Faculty of Engineering, Information and Systems, University of Tsukuba（工程、信息与系统学部，东京大学）；Department of Electrical Engineering, Electronics, and Applied Physics, Saitama University（电子工程、电子学与应用物理系，埼玉大学）
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually provide reduced degrees of control. Herein, a low-cost, vision based teleoperation system, DexPilot, was developed that allows for complete control over the full 23 DoA robotic system by merely observing the bare human hand. DexPilot enables operators to carry out a variety of complex man…
