RPI ID: 2014-046-401
Innovation Summary: A mobile human-friendly assistive robot integrates a motorized base with a dual-arm manipulator and adaptive control to help mobility-impaired users perform complex daily tasks. A three-DOF sip-and-puff or other accessible interface maps simple user inputs into coordinated base and arm motions. The control system arbitrates movement: the base repositions only when the selected arm is outside its workspace, and the arm moves when the base is stationary, improving safety and predictability. Telepresence capability enables remote caregivers to examine patients and deploy diagnostic tools with haptic feedback. Anthropomorphic dual arms expand task repertoire—handling bulky items, manipulating clothing, and two-handed operations like opening jars. Sensors (vision, proximity, touch) provide user feedback and collision warnings. Compared to fully autonomous systems, teleoperation reduces cost while retaining versatility and social companionship features.
Challenges / Opportunities: Reliable shared autonomy is needed to reduce operator burden while preserving user agency. Safe physical human–robot interaction demands compliant control, force limits, and real-time sensing. Operating in cluttered homes requires robust navigation and grasping under perception uncertainty. Integration of diverse input devices (sip-and-puff, eye-tracking, joysticks) must remain low-latency and fail-safe. Battery life and payload limits constrain mission duration and toolsets. Hygiene and durability standards apply for medical-adjacent use, influencing materials and design. Remote operation raises security, privacy, and connectivity requirements. Affordability hinges on modular hardware and scalable manufacturing.
Key Benefits: ✓ Dual-arm manipulation for complex ADLs ✓ Accessible multi-modal user interfaces ✓ Safety-aware arbitration of base/arm motion ✓ Telepresence with potential haptics and diagnostics ✓ Expandable sensor/tool ecosystem ✓ Lower cost than full autonomy ✓ Supports caregiver workload reduction ✓ Social companion/engagement potential
Applications: • Home assistance for severe mobility impairments • Remote caregiving and tele-examination • Rehabilitation coaching and exercise encouragement • Hospital logistics and bedside assistance • Assisted living facilities and smart home integration • Education and research in HRI
Keywords: Assistive robot; dual-arm; sip-and-puff; telepresence; HRI; mobility assistance
Intellectual Property: Issued US patent no. 10,265,227