An assistive robot to support dressing - strategies for planning and error handling
Open accessAbstract
Assistive robots are emerging to address a social need due to changing demographic trends such as an ageing population. The main emphasis is to offer independence to those in need and to fill a potential labour gap in response to the increasing demand for caregiving. This paper presents work undertaken as part of a dressing task using a compliant robotic arm on a mannequin. Several strategies are explored on how to undertake this task with minimal complexity and a mix of sensors. A Vicon tracking system is used to determine the arm position of the mannequin for trajectory planning by means of waypoints. Methods of failure detection were explored through torque feedback and sensor tag data. A fixed vocabulary of recognised speech commands was implemented allowing the user to successfully correct detected dressing errors. This work indicates that low cost sensors and simple HRI strategies, without complex learning algorithms, could be used successfully in a robot assisted dressing task.
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The system needs to detect success and different error states.
“In addition, the system needs to detect success and different error states [298,301,309,315,316,317].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [301]
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Probabilistic real-time user posture tracking for personalized robot-assisted dressing
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“In addition, the system needs to detect success and different error states [298,301,309,315–317].”
BackgroundMethod
- Authors
- Chance, G., Camilleri, A., Winstone, B., Caleb-Solly, P., & Dogramadzi, S.
- Affiliations
- University of the West of England (GB)
- Venue
- 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
- Publisher
- IEEE
- Published
- 2016-06
- Pages
- 774-780
- ISSN
- 2155-1774 (ISSN-L)
- OpenAlex
- W2469560994
- Cited by
- 34
- References
- 13
- Citations by year
- 2026: 1 · 2025: 1 · 2024: 3 · 2023: 5 · 2022: 7 · 2021: 1 · 2020: 1 · 2019: 3 · 2018: 7 · 2017: 5
- FWCI
- 10.00
- Type
- conference paper
- Language
- en
- Open access
- green
- eprints.uwe.ac.uk
- Licence
- cc-by
- Locations
- IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (publishedVersion)
- UWE Research Repository (UWE Bristol) (submittedVersion, cc-by)
- Funders
- Engineering and Physical Sciences Research Council (EP/N021703/1)
- CHIST-ERA
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Social Sciences › Psychology › Social Psychology › Social Robot Interaction and HRI
- Keywords
- assistive robots, dressing assistance, trajectory planning, fault detection, error handling, torque feedback, voice commands, human-robot interaction, population aging, caregiving, low-cost sensors
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