Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Authors:
Yi Guo;
Pages: 4 - 97 Abstract: As I write this editorial, it is the beginning of 2023. I would like to wish you and your loved ones a happy and healthy new year. We hope that 2023 will be a better year. Year 2022 was difficult for those in the war zone and those who struggled with policies on the COVID-19 pandemic. While the pandemic is at the back of most people’s minds in many countries, as China abruptly abandoned its zero-COVID policy, hospitals in China became overcrowded very quickly, and the health-care system has faced a major stress test since December 2022. Sadly, among the most vulnerable populations, older adults were hit badly and could not get needed help in time, which led to many deaths. We need to take care of the elderly and work on robotics innovations to assist them. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Frank Park;
Pages: 5 - 6 Abstract: For those of you unfamiliar with CES, it is the largest consumer electronics trade show in the world (the organizers insist that CES is no longer an initialism for anything but simply the world’s premier technology showcase) that this year attracted over 3,200 exhibitors and 115,000 participants to Las Vegas. I spent the past two days roaming its massive halls in an attempt to grasp the latest technology trends, and more generally trying to discern the outlines of what our future may look like. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Authors:
Weihua Sheng;Hesheng Wang;Yingzi Lin;Yasuhisa Hirata;Stefano Mazzoleni;
Pages: 7 - 100 Abstract: The home health-care industry is under growing pressure to deliver services more effectively to meet the increasing demand from care recipients, particularly the elderly population. It is estimated that U.S. home health-care expenditures will rise from US${$}$108.8 billion in 2019 to US$186.8 billion in 2027 [1]. A simultaneous ongoing shortage of physicians, registered nurses, certified nursing assistants, and social workers has created a major service delivery gap in the home health-care industry, especially in rural areas where timely access to quality health-care services is very limited [2]. The recent COVID-19 pandemic exacerbated this problem as it isolated many care recipients from their caregivers or friends. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Ankit A. Ravankar;Seyed Amir Tafrishi;Jose V. Salazar Luces;Fumi Seto;Yasuhisa Hirata;
Pages: 8 - 23 Abstract: Demographic changes in our society are putting a heavy burden on care facilities and health-care infrastructure. While the elderly population is steadily increasing, there is an acute shortage of caregiving experts and professionals. This problem is becoming more severe in superaging societies, namely, Japan. Hence, this urges new and practical solutions for welfare facilities to mitigate the burden on caregivers and human supporting partners by introducing robotics assistance through information and communication technology (ICT). In this work, we present a new multirobot cooperation and coordination framework at different intellectual computation levels for care facilities. The framework is developed to bring the health-care 4.0 concept one step closer to reality, under the ongoing project “Moonshot Research & Development,” in Japan. First, we present an Internet of Things (IoT) integration system that is designed to include different passive and active assistive robots. Then, we redesign robot systems and develop a semiautonomous platform that can perform tasks based on user/patient interaction in real-world care facility scenarios. Our framework provides human–robot interaction under shared autonomy between the user and assisting robots to improve the efficacy of the users in everyday tasks. Tohoku University’s new state-of-the-art Living Lab facility is used to prepare a real-world scenario, where we present our experimental results. We also discuss the open problems in future care and human assistance aspects. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Fabio Morbidi;Louise Devigne;Catalin Stefan Teodorescu;Bastien Fraudet;Émilie Leblong;Tom Carlson;Marie Babel;Guillaume Caron;Sarah Delmas;François Pasteau;Guillaume Vailland;Valérie Gouranton;Sylvain Guégan;Ronan Le Breton;Nicolas Ragot;
Pages: 24 - 35 Abstract: This article describes the robotic assistive technologies developed for users of electrically powered wheelchairs, within the framework of the European Union’s Interreg ADAPT (Assistive Devices for Empowering Disabled People Through Robotic Technologies) project. In particular, special attention is devoted to the integration of advanced sensing modalities and the design of new shared control algorithms. In response to the clinical needs identified by our medical partners, two novel smart wheelchairs with complementary capabilities and a virtual reality (VR)-based wheelchair simulator have been developed. These systems have been validated via extensive experimental campaigns in France and the United Kingdom. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Tianchen Deng;Hongle Xie;Jingchuan Wang;Weidong Chen;
Pages: 36 - 49 Abstract: With the rapidly growing demand for accurate localization in real-world environments, visual simultaneous localization and mapping (SLAM) has received significant attention in recent years. However, those existing methods still suffer from the degradation of localization accuracy in long-term changing environments. To address these problems, we propose a novel long-term SLAM system with map prediction and dynamics removal. First, a visual point-cloud matching algorithm is designed to efficiently fuse 2D pixel information and 3D voxel information. Second, each map point is classified into three types: static, semistatic, and dynamic based on the Bayesian persistence filter (BPF). Then we remove the dynamic map points to eliminate the influence of those map points. We can obtain a global predicted map by modeling the time series of semistatic map points. Finally, we incorporate the predicted global map into a state-of-the-art SLAM method, achieving an efficient visual SLAM system for long-term, dynamic environments. Extensive experiments are carried out on a wheelchair robot in an indoor environment over several months. The results demonstrate that our method has better map prediction accuracy and achieves more robust localization performance. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Juncheng Li;Weiping Sun;Xieping Gu;Jing Guo;Jun Ota;Zhifeng Huang;Yun Zhang;
Pages: 50 - 61 Abstract: Bandaging is a regular and indispensable nursing task in daily medical care. The task is challenging for robots because it requires simultaneous control of the bandaging trajectory and tension. The patient’s involuntary swaying due to pain and other reasons may cause further complications. To solve these problems, a compliant robot arm based on the serial elastic actuator (SEA) is selected as the hardware solution for this task. In this article, a method for a force–position-decoupling control strategy is developed for achieving the full process of bandage tension control as well as bandaging trajectory adjustment and following. Experiments are conducted to evaluate the performance of the proposed design and methods, using five subjects and a collaborative robot. The results show that the proposed robot arm successfully performs the bandaging task and that the proposed methods can effectively enable the robot to estimate the movement direction and position of the injured arm. The bandage tension can be effectively maintained even when the arm is swaying. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Ainara Garzo;Je H. Jung;Javier Arcas-Ruiz-Ruano;Joel C. Perry;Thierry Keller;
Pages: 62 - 71 Abstract: ArmAssist (AA), developed by TECNALIA, is a telerehabilitation platform aiming to help poststroke subjects maintain the rehabilitation of the upper limb at home. AA includes robotic modules with multiple sensors to train and measure the users’ voluntary movements. An assessment platform based on serious games is also included to not only engage the user but also perform automated evaluations of arm and hand function and their evolution over time. Moreover, AA facilitates at-home rehabilitation with limited remote supervision by the therapist. In the present article, the technical specifications and developments of AA are described. Additionally, a summary of the outcomes of a usability evaluation of AA is presented. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Ping Sun;Rui Shan;Shuoyu Wang;
Pages: 72 - 83 Abstract: The demand for walking training robots has increased owing to a serious shortage of rehabilitation physiotherapists. However, the intelligence level of existing rehabilitation training robots is low; these robots cannot realize a direct switch between passive and active training, which makes rehabilitees lack interest in training and deteriorates the effect of rehabilitation training. In this study, a rehabilitation gait training robot is developed in line with the characteristics of human omnidirectional walking. The proposed robot uses a suitable control algorithm to accurately follow the exercise programs prescribed by physical therapists and can realize fine practice results. The novelty of the robot is that passive and active training can be directly and gently switched during walking. The passive training stage has a velocity restriction safety function, whereas the active training stage has a velocity decision function. The purpose of this design is to avoid sudden changes in the robot velocity during the passive training stage and to guarantee the coordination of the human–robot velocity in the active training stage. Comparative simulation analyses and experimental results show that the proposed passive and active direct switching training improves the intelligence and security of rehabilitation robot. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Authors:
Francesco Infarinato;Paola Romano;Francesco Adinolfi;Marco Franceschini;Roberta Ginocchi;Michela Goffredo;Marco Ottaviani;Marianna Valente;Sanaz Pournajaf;
Pages: 84 - 95 Abstract: By stating “All people, everywhere, deserve the right care, right in their community,” [21]. the World Health Organization sets, in an exhortative way, the fundamental assumption for primary health care. Under these premises, we developed an augmented and extended approach to a home-rehabilitation system to provide intensive care to chronic stroke patients with aphasia. The system proposes neurocognitive intervention based on an information and communication technologies ecosystem through neurorehabilitation exercises and assessments. In this study, we analyzed the feasibility, satisfaction, and motivation of patients, and the clinical effect of the intervention using this complex platform which, among other functions, allows the administration of speech and language home therapy. Eight patients conducted a therapeutic plan, including speech therapy, using the remote asynchronous rehabilitation system; seven patients were included in the control group (CG) and followed a traditional speech-therapy program. The analysis of usage revealed that participants made continuous and intensive use of the platform. The results confirmed the acceptability, perceived usefulness, and ease of use of the proposed platform. Clinical assessments showed that the system administers speech and language rehabilitation as effectively as traditional therapy, allowing one to consider such an approach as a valid alternative to standard face-to-face speech therapy. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Lei Yang;Yifei Hu;Lihai Zhang;Peng Zhang;Craig Schlenoff;
Pages: 96 - 97 Abstract: The IEEE Robotics and Automation Society’s (RAS) standards working groups continue to grow. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Daniel Leidner;Georgia Chalvatzaki;Karinne Ramirez-Amaro;
Pages: 98 - 100 Abstract: The international RoboCup competition has, in the past, been described as “a treasure trove of rich diversity for research issues and interdisciplinary connections” [1]. This description is often credited to the facets of the federation itself, which hosts a variety of challenges for rescue robots, robots for service at home and in industrial environments, and, most prominently, robots that play soccer, in different sizes and formats, be they simulated, wheeled, or legged. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Andra Keay;
Pages: 101 - 113 Abstract: At the moment there is no canonical global source of robotics commercialization information. However, the general tracking of investment data over the last decade can show significant overall trends, even if each dataset or analytics company provides different figures. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Hyungpil Moon;
Pages: 103 - 128 Abstract: Competitions have been a regular feature at almost every ICRA and IROS conference. So far, the organization of competitions has been entirely up to the conference organizing committee (OC). The OC usually issues a call for competition proposals; collects them; and decides which competitions will be hosted based on the conference site and budget conditions. Many big companies, such as Amazon, Airbus, and DJI, have successfully organized competitions at ICRA and IROS, some of which have continued for multiple years and have driven technological advances in robotics. The OC may also organize competitions based on the interests of its financial supporters. Many such competitions have been one-time events, but the Autonomous Drone Racing competition, which ran for four years until it was interrupted by the COVID-19 pandemic, was a successful testbed for vision-based autonomous navigation of quadcopters and attracted participation from many top-tier research teams. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Authors:
Tat’ána Příhodová;Giuseppe Silano;Afzal Ahmad;Vít Krátký;Tomáš Báča;Pavel Petráček;Věra Sasková;Jan Bednář;Martin Saska;
Pages: 104 - 106 Abstract: In recent decades, robotic systems have been used for an increasing number of applications, often involving multiple robots. Although multi-robot systems (MRS) provide benefits like redundancy, robustness, and fault tolerance, they come with numerous challenges. These challenges present new research possibilities and are of great interest to the IEEE Robotics and Automation Society (RAS). The IEEE RAS Summer School on MRS aims to gather the knowledge and expertise of the robotics community and bridge the gap between theory and practice. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Authors:
Francesco Missiroli;
Pages: 108 - 110 Abstract: Transition from university to a company is always a challenging task. Sometimes you want to keep going in the direction of your studies, focusing on a particular aspect of interest; other times you want to start your own business based on an idea or a technology that you developed during your studies. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Authors:
Frank Park;Nukula Viswanadham;Ken Goldberg;Michael Wang;Yu Sun;MengChu Zhou;Bengt Lennartson;Fan-Tien Cheng;
Pages: 112 - 113 Abstract: It was with great sadness and shock that we received the news that our dear friend and colleague, Prof. Peter Luh, had passed away on 28 November 2022, only 71 years old. His passing was completely unexpected—some of us had even received an e-mail from him the same day he left us, which, as so many times before, included constructive and encouraging feedback. We call Peter The Father of Automation because of his pioneering contributions to the field of automation research; among other achievements and contributions, Peter was the cofounder and first editor-in-chief of the IEEE Transactions on Automation Science and Engineering (T-ASE), a cofounder of the IEEE Conference on Automation Science and Engineering (CASE), and founding chair of the CASE Steering Committee. Peter was a great leader and an inspiring, engaged, and supportive mentor and role model. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Pages: 114 - 114 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Pages: 116 - 116 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Pages: 117 - 118 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Authors:
Shugen Ma;
Pages: 118 - 124 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Pages: 124 - 124 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Pages: 124 - 124 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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Pages: 125 - 126 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Pages: 126 - 126 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
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Pages: 128 - 128 Abstract: Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers. PubDate:
March 2023
Issue No:Vol. 30, No. 1 (2023)
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