Name
Title | ||
|---|---|---|
Towards a Manipulator System for Disposal of Waste from Patients Undergoing Chemotherapy |
Abstract | ||
|---|---|---|
There has been an increasing demand to automate the non-patient care matters so that the clinical staff can focus on delivering patient care. For example, out-patients undergoing chemotherapy increases their toilet usage frequency due to the treatment. As they are undergoing chemotherapy, their output waste contains a level of chemical. This task is compulsory yet troublesome and time-consuming so it is often desired to be removed from the nursing staff for them to focus on patient care. Hence, in this paper, we propose a manipulator system to automatically dispose the bedpan used by patients undergoing chemotherapy. The main technical challenge lies in the removal of the bedpan from the commode as the interaction of the grasping is highly dynamic, along with the different conditions of the bedpans. To address this manipulation issue, a Residual Reinforcement Learning (RRL) method that leverages vision-based commode pose estimation and the reinforcement learning (RL)-based uncertainty compensation for improvement of the grasping accuracy is proposed to increase the robustness of the disposal. The experiments conducted show that the manipulator can dispose the bedpan without human intervention and the proposed method achieves a 100% success rate while the traditional method without RL is only 50 %. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/IROS51168.2021.9636865 | 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
DocType | ISSN | Citations |
Conference | 2153-0858 | 0 |
PageRank | References | Authors |
0.34 | 0 | 20 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hsieh-Yu Li | 1 | 0 | 1.35 |
| Lay Siong Ho | 2 | 0 | 0.34 |
| Achala Athukorala | 3 | 0 | 0.34 |
| Wan Yun Lu | 4 | 0 | 0.34 |
| Audelia Gumarus Dharmawan | 5 | 2 | 3.13 |
| Jane Li Feng Guo | 6 | 0 | 0.34 |
| Mabel May Leng Tan | 7 | 0 | 0.34 |
| Kok Cheong Wong | 8 | 0 | 0.34 |
| Nuri Syahida Ng | 9 | 0 | 0.34 |
| Maxim Mei Xin Tan | 10 | 0 | 0.34 |
| Hong Choon Oh | 11 | 0 | 0.34 |
| Daniel Tiang | 12 | 0 | 0.34 |
| Wei Wei Hong | 13 | 0 | 0.34 |
| Franklin Chee Ping Tan | 14 | 0 | 0.34 |
| Gek Kheng Png | 15 | 0 | 0.34 |
| Ivan Khoo | 16 | 0 | 0.34 |
| Chau Yuen | 17 | 4493 | 263.28 |
| Pon Poh Hsu | 18 | 0 | 0.34 |
| Lee Chen Ee | 19 | 0 | 0.34 |
| U-xuan Tan | 20 | 141 | 27.72 |