Harry Asada

Ravi Tejwani, Karl Velazquez, John Payne et al.

A method for cross-modality embedding of force profile and words is presented for synergistic coordination of verbal and haptic communication. When two people carry a large, heavy object together, they coordinate through verbal communication about the intended movements and physical forces applied to the object. This natural integration of verbal and physical cues enables effective coordination. Similarly, human-robot interaction could achieve this level of coordination by integrating verbal and haptic communication modalities. This paper presents a framework for embedding words and force profiles in a unified manner, so that the two communication modalities can be integrated and coordinated in a way that is effective and synergistic. Here, it will be shown that, although language and physical force profiles are deemed completely different, the two can be embedded in a unified latent space and proximity between the two can be quantified. In this latent space, a force profile and words can a) supplement each other, b) integrate the individual effects, and c) substitute in an exchangeable manner. First, the need for cross-modality embedding is addressed, and the basic architecture and key building block technologies are presented. Methods for data collection and implementation challenges will be addressed, followed by experimental results and discussions.

Xia Wu, Haiyuan Liu, Ziqi Liu et al.

Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive robots through design? In this paper, we proposed an explorative design of an ambient SuperLimb (Supernumerary Robotic Limb) system that involves a pneumatically-driven robotic cane for at-home motion assistance, an inflatable vest for compliant human-robot interaction, and a depth sensor for ambient intention detection. The proposed system aims at providing active assistance during the sit-to-stand transition for at-home usage by the elderly at the bedside, in the chair, and on the toilet. We proposed a modified biomechanical model with a linear cane robot for closed-loop control implementation. We validated the design feasibility of the proposed ambient SuperLimb system including the biomechanical model, our result showed the advantages in reducing lower limb efforts and elderly fall risks, yet the detection accuracy using depth sensing and adjustments on the model still require further research in the future. Nevertheless, we summarized empirical guidelines to support the ambient design of elderly-assistive SuperLimb systems for lower limb functional augmentation.