An assistive robot to support dressing - strategies for planning and error handling

摘要

Assistive robots are emerging to address a social need due to changing demographic trends such as an ageing population. The main emphasis is to offer independence to those in need and to fill a potential labour gap in response to the increasing demand for caregiving. This paper presents work undertaken as part of a dressing task using a compliant robotic arm on a mannequin. Several strategies are explored on how to undertake this task with minimal complexity and a mix of sensors. A Vicon tracking system is used to determine the arm position of the mannequin for trajectory planning by means of waypoints. Methods of failure detection were explored through torque feedback and sensor tag data. A fixed vocabulary of recognised speech commands was implemented allowing the user to successfully correct detected dressing errors. This work indicates that low cost sensors and simple HRI strategies, without complex learning algorithms, could be used successfully in a robot assisted dressing task.