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Title: Towards Development of an Autonomous Robotic System for Beard Shaving Assistance for Disabled People
Authors: Ajani S. Oladayo; F. M. Samy Assal; Haitham El-Hussieny
Publication Venue: 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)
Year Info: 2019
Summary:
People with disabilities such as Parkison’s or other disorders with limited hand motion are unable to perform normal bodily functions to interact with their body with tools that require more dexterity. The paper used K Nearest Neighbors Approach to determine whether the face is bearded or not by using surface normal vectors. Then, 3D semantic segmentation is used to find the points which are bearded and which are not. Then the surface normal to each point is used to find the roll, pitch, and yaw in. The results were that there is very little error in determining the xyz of the points of interest for the robot.
Title: Towards an assistive robot that autonomously performs bed baths for patient hygiene
Authors: C. -H. King, T. L. Chen, A. Jain and C. C. Kemp,
Publication Venue: The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year Info: 2010
Summary: The motivation for this paper is mainly the fact that a lot of people struggle with activities of daily living either through old age or through disabilities and require assistance. Nurses are often not always able to sufficiently provide this due to manpower or other constraints so robots can help out with the workload. There's also not been as much effort in developing hygiene assistance robots well. The operator chooses the area(bounding box) in which the robot needs to apply the cleaning action on the patient which is then converted to 3D cartesian points in the robot’s frame as Cartesian equilibrium points and moves back and forth for a distance x in the direction y. Performance was evaluated by how well the robot was able to remove the debris on the patient. The results were that the robot was able to consistently remove over 90% of the debris on the patient.
Title: Detangling hair using feedback-driven robotic brushing
Authors:J. Hughes, T. Plumb-Reyes, N. Charles, L. Mahadevan and D. Rus
Publication Venue: 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)
Year Info: 2021
Summary: With advances in soft robotic technology and with an continually aging population it has become possible to tackle more advanced and less tackled problems like hair maintenance and brushing. Robotic caregivers are now becoming more and more possible. Use soft bristle end effectors to measure forces that can be used as feedback so that brushing is not painful and can become effective. Trialed on numerous wigs/hair types and range of “tangled” hair. Intuitively start coming at the ends and work your way towards the scalp using the double helix combing model. Capture an image of the hair at a fixed distance -> crop to a given size -> convert to grayscale -> and finally identify the x and y image gradients to determine curls. The type of curliness would be used to determine how far from the free ends the brush would start combing from. Worked well for straighter hairs but isn’t as conclusively better than human brushes for curlier hair partly due to pain threshold limitations in the model.
Title: Development of a skincare robot
Authors:Y. Tsumaki et al.
Publication Venue: 2008 IEEE International Conference on Robotics and Automation
Year Info: 2008
Summary: Dry skin is a known phenomenon and senile xerosis affects over 95% of the 60+ population in Japan.. Daily multi-occurrence ointment treatment is required but might not always be possible for self-application due to flexibility and other dexterity limitations on the older population. Takes into account small movements of elderly since they can’t stay motionless. Special hand that uses larger contact to cover a large area and uses smaller contact for smaller surface area. Reference for ointment application was used from a nurse which was the control for the path planning of the robot arm. Given the noise in the 10,000 data points with low depth, the area was divided into segments and having an average of all the depths at that point. The results were successful and there was a smooth distribution of the ointment on the back of the patient. Room for improvement was to use a wire driven system.
Title: I-Support: A robotic platform of an assistive bathing robot for the elderly population
Authors: A.Zlatintsi et al.
Publication Venue: Robotics and Autonomous Systems Volume 126
Year Info: 2020
Summary: The main motivation for this is the aging population throughout the world who require health care experts to help them in activities of daily living with personal hygiene being one of the most important ones. Elderly people might want as much independence as possible in personal hygiene so a personal care robot might serve well in this use case. Some of the key features in this paper in the I-Support robot platform is to include a multitude of robotic systems that include a soft robotic arm, to a motorized chair, to including things like audio-gestural control for the elderly. There are additional features like the entire system being context-aware so each of the systems integrate properly and human pose estimation to determine orientation. The entire system is able to do a lot of things like wiping/scrubbing backs or increasing temperatures of the water and much more. There were a plethora of testing simulations from recognizing audio gestural commands to determining the accuracy of the target areas of the back that needed to be scrubbed. Patients were given some control over the system, but overall patients much preferred the fully autonomous system and enjoyed their experience with it. There was good audio gestural command recognition and users became increasingly more familiar with what commands they could give out.
Title: A Robot System for Automated Wound Filling with Jetted Materials
Authors: B. H. Jafari, L. Namhyung, R. Thompson, J. Schellhorn, B. Antohe and N. Gans
Publication Venue: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Madrid, Spain
Year Info: October 1-5, 2018
Summary:
Main motivation for this paper is that half a million people are treated each year for burns in the US and more than 3 million are being treated for skin cancer. These wounds need to be treated and the process can be highly manual by either implanting living tissue or creating structures from biomaterial. Instead, the robot systems can make it so that treatments are personalized and precisely controlled and the patient will benefit from an improved recovery with faster healing and better functionality. Generally how it would work is to capture an infrared image and point cloud which is then used to extract a contour in 3D which is then used to plan the nozzle path of the robot and fill up the wound properly. This was tested on an object that had a circular wound that had to be filled with gel. The results were that there was good repeatability and accuracy and there were good results for an initial investigation. Room for improvement was to use better vision algorithms and to investigate more complex path planning for more complex wounds.
Title: Development of automatic teeth cleaning robot with multiple motion of brushes
Authors:G. Sakaeda, A. Takanishi and H. Ishii
Publication Venue: 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Delft, Netherlands,
Year Info: 2021
Summary:
People are living longer and longer so it is more and more pertinent to have the correct lifestyle habits to lead a healthy life when you are much older. Dental and oral health are one part that is very important to preventing diseases and decreasing the risk of heart disease and pneumonia. One way of keeping your dental health is to have as little plaque as possible and by removing it. People are unable to brush properly to remove plaque because of the technique required as well as the time. Robots can account for this by using the required movements as well as the correct amount of time. The overall system, interestingly, is something you bite into- the robot itself, which you then use to turn on the system that brushes your entire teeth and then once it's complete you take it out and rinse your mouth. The robot therefore is held by your mouth and it brushes properly for 30 seconds. Plaque removal tests were not exactly checked but the system did work.
Title: Towel-Like Object Alignment with Human-Robot Cooperation and High-Speed Robotic Manipulation
Authors: K. Murakami, S. Huang, H. Sumi, M. Ishikawa and Y. Yamakawa
Publication Venue:2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia
Year Info: 2018
Summary:
Increasing demand for picking up towel-like objects. Difficult because the deformation occurs during the actual picking up. This paper uses a high speed arm along with a previous paper from Yamakawa which was able to fold a cloth held in the air through amazing visual feedback control.The highs peed robotic arm was based on the concept of dynamic compensation to account for motion and manipulation errors that might occur along with some complex kinematic models. Interestingly in this paper, the human holds up the towel which the robot arm then uses to capture the contour of the towel as well as its angle and center and decide where exactly to grasp the towel. In a sense, this is a cobot. The results were measured in how well the robot was able to determine the center position and rotation during the cooperation phase which ended up being less than 10 mm and 0.02 radians.
Title: Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation
Authors: D. Leidner, G.Bartels, W.Bejjani, A.Albu-Schaffer, M.Beetz
Publication Venue: Robotics and Autonomous Systems Volume 114
Year Info: April 2019
Summary:
The motivation for this paper mainly seems to be that every frequent human activity requires high dexterity and these are more complex than what meets the eye. Humans use haptic feedback to provide information such as contact or the need for more wiping motions in the case of cleaning. Providing a robot with this cognitive control loop is what this paper aims to achieve. Generally, the robot plans the path of its end-effector or arm in this case, generates a whole body movement and predicts the outcome, the executes it, and during its execution records haptic contact estimation and infers the effects of its wiping motions to come up with a new representation of the effect-space. The robot system worked as intended as long as it was able to localize properly and it was testing in sweeping as well as brushing motions on particles on a surface. However, this robot only worked in control environments and could potentially put its own motion qualities into question if there was unnecessary contact with an unknown surface.
Title: Autonomous Surgical Robot With Camera-Based Markerless Navigation for Oral and Maxillofacial Surgery
Authors:Q. Ma et al.
Publication Venue: IEEE/ASME Transactions on Mechatronics
Year Info: April 2020
Summary:
A larger population requires oral and maxillofacial surgeries each year and in these surgeries it requires immense precision from the surgeon that lasts a long time while undergoing a lot of physical and mental burdens. Currently markers are displayed in navigation systems through VR to display the necessary poses for assisted surgeries. Some robots were developed to help the surgeon but this paper developed a completely autonomous robotic surgeon with OpenGL, OPenCV, and VTK. It uses computer vision to detect the pose of the skull and find the regions of interest it had to operate on. The overall results were that it was able to do such a surgeon theoretically in “phantom” experiments.
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