Towards safety in physically assistive robots: eating assistance

Vila Abad, Maria; Canal Camprodon, Gerard; Alenyà Ribas, Guillem

dc.contributor.author	Vila Abad, Maria
dc.contributor.author	Canal Camprodon, Gerard
dc.contributor.author	Alenyà Ribas, Guillem
dc.contributor.other	Institut de Robòtica i Informàtica Industrial
dc.date.accessioned	2019-03-01T13:11:18Z
dc.date.available	2019-03-01T13:11:18Z
dc.date.issued	2018
dc.identifier.citation	Vila , M.; Canal, G.; Alenyà, G. Towards safety in physically assistive robots: eating assistance. A: IROS Workshop on Robots for Assisted Living. "Proceedings of the 2018 IROS Workshop on Robots for Assisted Living". 2018, p. 1-4.
dc.identifier.uri	http://hdl.handle.net/2117/129996
dc.description.abstract	Safety is one of the base elements to build trust in robots. This paper studies remedies to unavoidable collisions using robotics assistive feeding as an example task. Firstly, we propose an attention mechanism so the user can control the robot using gestures and thus prevent collisions. Secondly, when unwanted contacts are unavoidable we compare two safety strategies: active safety, using a force sensor to monitor maximum allowed forces; and passive safety using compliant controllers. Experimental evaluation shows that the gesture mechanism is effective to control the robot. Also, the impact forces obtained with both methods are similar and thus can be used independently. Additionally, users experimenting on purpose impacts declared that the impact was not harmful.
dc.format.extent	4 p.
dc.language.iso	eng
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.other	humanoid robots
dc.subject.other	service robots
dc.subject.other	assisted living
dc.subject.other	feeding
dc.subject.other	safety
dc.title	Towards safety in physically assistive robots: eating assistance
dc.type	Conference report
dc.contributor.group	Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewed	Peer Reviewed
dc.subject.inspec	Classificació INSPEC::Automation::Robots
dc.relation.publisherversion	https://www.idiap.ch/workshop/iros2018/files/05f-mvila_iros_ws2018_final.pdf
dc.rights.access	Open Access
drac.iddocument	23937967
dc.description.version	Postprint (author's final draft)
dc.relation.projectid	info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656
upcommons.citation.author	Vila , M.; Canal, G.; Alenyà, G.
upcommons.citation.contributor	IROS Workshop on Robots for Assisted Living
upcommons.citation.published	true
upcommons.citation.publicationName	Proceedings of the 2018 IROS Workshop on Robots for Assisted Living
upcommons.citation.startingPage	1
upcommons.citation.endingPage	4