People with severe motor impairments can interact with their environment again by using robotic assistance systems. However, direct control of such systems is cumbersome, especially for activities that require high precision. In order to facilitate the usability of assistive robots, we therefore develop methods for shared control support. In doing so, we define robot capabilities in the form of state machines, which constrain the robot's motion to guide / assist the user to successfully execute the task. In combination with the control interface, the user can decide which task shall be executed and always has control over the robot system even during task execution. With this technology, we aim to make the use of assistive robots in performing various activities of daily living simple and intuitive.
Publications
Gabriel Quere, Annette Hagengruber, Maged Samuel Zakri Iskander, Samuel Bustamante Gomez, Daniel Leidner, Freek Stulp, and Jörn Vogel, "Shared Control Templates for Assistive Robotics". in Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31. May - 31. August. [elib]