Paper Info
Title
Towards ICT-supported bath robots: Control architecture description and localized perception of user for robot motion planning
Abstract
This paper describes the general control architecture and the basic implementation concepts of a bath service robotic system. The goal of this system is to support and enhance elderly's mobility, manipulation and force exertion abilities and assist them in successfully, safely and independently completing the entire sequence of showering and drying tasks, such as properly washing their back and lower limbs. This service robotic system is based on soft-robotic arms which, together with advanced human-robot force/compliance control will form the basis for a safe physical human-robot interaction that complies with the most up-to-date safety standards. In this paper an overview of the bath robotic system components is presented, and the basic modules that contribute to the overall control architecture of the system are described. Moreover, this paper proposed an algorithm that performs efficient processing of feedback data provided by a depth sensor. This algorithm supports local shape perception and geometric characterization of user body parts and will form the basis for further implementation of surface reconstruction and robot motion planning algorithms.
Year
DOI
Venue
2016
10.1109/MED.2016.7535954
Mediterranean Conference on Control and Automation
Field
DocType
ISSN
Robot control,Social robot,Computer science,Personal robot,Robot kinematics,Robot end effector,Control engineering,Robot,Mobile robot,Articulated robot
Conference
2325-369X
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Athanasios Dometios172.81
Xanthi Papageorgiou24610.83
Costas S. Tzafestas315325.95
Panagiotis Vartholomeos4333.71