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User tracking and haptic interaction for robot-assisted dressing

AuthorsPadrós I Valls, Raimon
AdvisorJevtić, Aleksandar; Ocampo-Martinez, Carlos
Issue Date2017
PublisherCSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)
AbstractThe goal of the project is to develop an interactive robotic system that will provide proactive assistance with dressing to disabled users or health-care workers whose physical contact with garments must be limited to avoid contamination. The project will explore gesture and force as modalities of human-robot interaction. A framework that integrates these two modalities will be developed to recognize user's intentions while being dressed by the robot. The framework will be tested on a Barrett WAM robot equipped with a Kinect camera for user tracking and a force sensor. The integration of hardware and software was done in Robot Operating System (ROS).
DescriptionBachelor’s thesis: Grau en Enginyeria en Tecnologia Industrial.
Appears in Collections:(IRII) Tesis
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