In-home and remote use of robotic body surrogates by people with profound motor deficits

By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit further investigation.Comment: 43 Pages, 13 Figure

Deep Haptic Model Predictive Control for Robot-Assisted Dressing

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying high forces to a person's body. We present a deep recurrent model that, when given a proposed action by the robot, predicts the forces a garment will apply to a person's body. We also show that a robot can provide better dressing assistance by using this model with model predictive control. The predictions made by our model only use haptic and kinematic observations from the robot's end effector, which are readily attainable. Collecting training data from real world physical human-robot interaction can be time consuming, costly, and put people at risk. Instead, we train our predictive model using data collected in an entirely self-supervised fashion from a physics-based simulation. We evaluated our approach with a PR2 robot that attempted to pull a hospital gown onto the arms of 10 human participants. With a 0.2s prediction horizon, our controller succeeded at high rates and lowered applied force while navigating the garment around a persons fist and elbow without getting caught. Shorter prediction horizons resulted in significantly reduced performance with the sleeve catching on the participants' fists and elbows, demonstrating the value of our model's predictions. These behaviors of mitigating catches emerged from our deep predictive model and the controller objective function, which primarily penalizes high forces.Comment: 8 pages, 12 figures, 1 table, 2018 IEEE International Conference on Robotics and Automation (ICRA

Towards Assistive Feeding with a General-Purpose Mobile Manipulator

General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept robotic system for assistive feeding that consists of a Willow Garage PR2, a high-level web-based interface, and specialized autonomous behaviors for scooping and feeding yogurt. As a step towards use by people with disabilities, we evaluated our system with 5 able-bodied participants. All 5 successfully ate yogurt using the system and reported high rates of success for the system's autonomous behaviors. Also, Henry Evans, a person with severe quadriplegia, operated the system remotely to feed an able-bodied person. In general, people who operated the system reported that it was easy to use, including Henry. The feeding system also incorporates corrective actions designed to be triggered either autonomously or by the user. In an offline evaluation using data collected with the feeding system, a new version of our multimodal anomaly detection system outperformed prior versions.Comment: This short 4-page paper was accepted and presented as a poster on May. 16, 2016 in ICRA 2016 workshop on 'Human-Robot Interfaces for Enhanced Physical Interactions' organized by Arash Ajoudani, Barkan Ugurlu, Panagiotis Artemiadis, Jun Morimoto. It was peer reviewed by one reviewe

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on a person's limb and the orientation of the limb's central axis relative to the sensor's frame of reference. These pose estimates enable the robot to move its end effector with respect to the limb using feedback control. We demonstrate that a PR2 robot can use this approach with a custom six electrode capacitive sensor to assist with two activities of daily living-dressing and bathing. The robot pulled the sleeve of a hospital gown onto able-bodied participants' right arms, while tracking human motion. When assisting with bathing, the robot moved a soft wet washcloth to follow the contours of able-bodied participants' limbs, cleaning their surfaces. Overall, we found that multidimensional capacitive sensing presents a promising approach for robots to sense and track the human body during assistive tasks that require physical human-robot interaction.Comment: 8 pages, 16 figures, International Conference on Rehabilitation Robotics 201

Focusing of Intense Subpicosecond Laser Pulses in Wedge Targets

Two dimensional particle-in-cell simulations characterizing the interaction of ultraintense short pulse lasers in the range 10^{18} \leq I \leq 10^{20} W/cm^{2} with converging target geometries are presented. Seeking to examine intensity amplification in high-power laser systems, where focal spots are typically non-diffraction limited, we describe key dynamical features as the injected laser intensity and convergence angle of the target are systematically varied. We find that laser pulses are focused down to a wavelength with the peak intensity amplified by an order of magnitude beyond its vacuum value, and develop a simple model for how the peak location moves back towards the injection plane over time. This performance is sustained over hundreds of femtoseconds and scales to laser intensities beyond 10^{20} W/cm^{2} at 1 \mu m wavelength.Comment: 5 pages, 6 figures, accepted for publication in Physics of Plasma

Ratchet-like dynamics of fluxons in annular Josephson junctions driven by bi-harmonic microwave fields

Experimental observation of the unidirectional motion of a topological soliton driven by a bi-harmonic ac force of zero mean is reported. The observation is made by measuring the current-voltage characteristics for a fluxon trapped in an annular Josephson junction that was placed into a microwave field. The measured dependence of the fluxon mean velocity (rectified voltage) at zero dc bias versus the phase shift between the first and second harmonic of the driving force is in qualitative agreement with theoretical expectations.Comment: 6 figure

The decay of Hill's vortex in a rotating flow

Hill's vortex is a classical solution of the incompressible Euler equations which consists of an axisymmetric spherical region of constant vorticity matched to an irrotational external flow. This solution has been shown to be a member of a one-parameter family of steady vortex rings and as such is commonly used as a simple analytic model for a vortex ring. Here, we model the decay of a Hill's vortex in a weakly rotating flow due to the radiation of inertial waves. We derive analytic results for the modification of the vortex structure by rotational effects and the generated wave field using an asymptotic approach where the rotation rate, or inverse Rossby number, is taken to be small. Using this model, we predict the decay of the vortex speed and radius by combining the flux of vortex energy to the wave field with the conservation of peak vorticity. We test our results against numerical simulations of the full axisymmetric Navier–Stokes equations

The spectrum of small-scale density fluctuations in the solar wind

Interplanetary scintillation observations at frequencies between 74 and 1400 MHz and solar elongations in the range 10–90° are combined to determine the form of the wavenumber spectrum of electron density fluctuations in the range 10⁻³ < k < 10⁻¹/km (where k = 2π/λ). The data are best explained by a spectrum in which there is a genuine scale-length; they are not consistent with a simple power-law spectrum. This suggests that turbulence may be less important than some kind of plasma instability in generating small-scale density fluctuations. The relevance of these conclusions to the use of IPS for determining radio source structure is discussed