Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Gao:2015,
author = {Gao, Y and Chang, HJ and Demiris, Y and Gao, Y and Chang, HJ and Demiris, Y},
pages = {1840--1845},
publisher = {IEEE},
title = {User Modelling for Personalised Dressing Assistance by Humanoid Robots},
url = {http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000371885402001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202},
year = {2015}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Assistive robots can improve the well-being of disabled or frail human users by reducing the burden that activities of daily living impose on them. To enable personalised assistance, such robots benefit from building a user-specific model, so that the assistance is customised to the particular set of user abilities. In this paper, we present an end-to-end approach for home-environment assistive humanoid robots to provide personalised assistance through a dressing application for users who have upper-body movement limitations. We use randomised decision forests to estimate the upper-body pose of users captured by a top-view depth camera, and model the movement space of upper-body joints using Gaussian mixture models. The movement space of each upper-body joint consists of regions with different reaching capabilities. We propose a method which is based on real-time upper-body pose and user models to plan robot motions for assistive dressing. We validate each part of our approach and test the whole system, allowing a Baxter humanoid robot to assist human to wear a sleeveless jacket.
AU - Gao,Y
AU - Chang,HJ
AU - Demiris,Y
AU - Gao,Y
AU - Chang,HJ
AU - Demiris,Y
EP - 1845
PB - IEEE
PY - 2015///
SN - 2153-0858
SP - 1840
TI - User Modelling for Personalised Dressing Assistance by Humanoid Robots
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000371885402001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - http://hdl.handle.net/10044/1/26678
ER -