@inproceedings{Gao:2015,
author = {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://hdl.handle.net/10044/1/26678},
year = {2015}
}

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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
EP  - 1845
PB  - IEEE
PY  - 2015///
SP  - 1840
TI  - User Modelling for Personalised Dressing Assistance by Humanoid Robots
UR  - http://hdl.handle.net/10044/1/26678
ER  - 

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