Real-time Robot-assisted Ergonomics

This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate cooperative robot movements, the user's posture is, whenever required, brought back to an ergonomic optimum. Effectively, the new protocol optimises the human-robot relative position and orientation as a function of human ergonomics. An RGB-D camera is used to calculate and monitor human joint angles in real-time and to determine the current ergonomics state. A total of 6 main causes of low ergonomic states are identified, leading to 6 universal robot responses to allow the human to return to an optimal ergonomics state. The algorithmic framework identifies these 6 causes and controls the cooperating robot to always adapt the environment (e.g. change the pose of the workpiece) in a way that is ergonomically most comfortable for the interacting user. Hence, human-robot interaction is continuously re-evaluated optimizing ergonomics states. The approach is validated through an experimental study, based on established ergonomic methods and their adaptation for real-time application. The study confirms improved ergonomics using the new approach.Comment: 6 pages, accepted and to be presented at IEEE ICRA 201

User Intent Communication in Robot-Assisted Shopping for the Blind

The research reported in this chapter describes our work on robot-assisted shopping for the blind. In our previous research, we developed RoboCart, a robotic shopping cart for the visually impaired (Gharpure, 2008; Kulyukin et al., 2008; Kulyukin et al., 2005). RoboCart's operation includes four steps: 1) the blind shopper (henceforth the shopper) selects

Inclusive beauty: how buying and using cosmetics can be made more accessible for the visually impaired (VI) and blind consumer

Historically, assistive technologies for visually impaired and blind consumers evolved around aiding users in navigation, online content accessibility, learning, object and text recognition, and social interactions. There is no specific work done on technologies assisting these consumers with the use of cosmetics and engaging in self-grooming activities, whist such tasks are common and expected in the context of social and professional environments. This paper consists of two parts. The first one is a review of the assistive technologies relevant to shopping for cosmetics, as well as of the applications and systems which enable the choice of products, including some specifically developed for cosmetic purposes in line with the drive for personalised cosmetics. The second part reports the outcomes of a survey exploring the shopping and product usage of cosmetics by VI and blind individuals, including some qualitative data. The literature review identified a growing field of research and development of assistive technologies supporting shopping tasks and accessing product information. For example, conversion of text and visuals into auditory cues (verbal or other sounds) has been commonly used by VI and blind consumers. A small number of organisations/apps were found which provide advice, tutorials or direct assistance with cosmetics use and makeup application in particular. However, there were no reports of products and services within the remits of the cosmetic industry designed to assist the VI and blind users other than one brand adding Braille to product packaging. A range of technologies aimed at providing personalised cosmetic product choice were identified, however only one app was focused on helping such consumers with lipstick application. The survey showed that the VI and blind consumers used a variety of makeup products for reasons such as feeling good, looking professional, and simply because this is what sighted people do. Their choice of products was mostly driven by ease of use and brand familiarity, but sensory characteristics were also referred to. As lipstick was the most commonly used product, the colour was also an important choice factor. Shopping and finding the right product in store were considered easier than shopping online. The combination of primary and secondary data suggests that the use of cosmetics amongst VI and blind consumers could be encouraged in many ways: by improving the accessibility of product information – in store and online; by the design of accessible systems and applications which facilitate reliable product choice (colour and other desirable performance attributes); by offering access to affordable personalised products

An intelligent multi-floor mobile robot transportation system in life science laboratories

In this dissertation, a new intelligent multi-floor transportation system based on mobile robot is presented to connect the distributed laboratories in multi-floor environment. In the system, new indoor mapping and localization are presented, hybrid path planning is proposed, and an automated doors management system is presented. In addition, a hybrid strategy with innovative floor estimation to handle the elevator operations is implemented. Finally the presented system controls the working processes of the related sub-system. The experiments prove the efficiency of the presented system

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers