Open World Assistive Grasping Using Laser Selection
Abraham M. Shultz, James Kuczynski, and Holly Yanco
University of Massachusetts Lowell
Andreas ten Pas, Marcus Gualtieri, and Robert Platt
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This video shows a robotic system developed to provide mobile grasping assistance for ADLs. The system is comprised of a robot arm from a Rethink Robotics Baxter robot mounted to an assistive mobility device, a control system for that arm, and a user interface with a variety of access methods for selecting desired objects. The system uses grasp detection to allow previously unseen objects to be picked up by the system. The grasp detection algorithms also allow for objects to be grasped in cluttered environments. With evaluations with able-bodied users, we achieved an object selection success rate of 88% and a grasp detection success rate of 90% in a non-mobile scenario, and success rates of 89% and 72% in a mobile scenario.
This work has been supported in part by the National Science Foundation through IIS-1426968 and IIS-1427081, NASA through NNX16AC48A and NNX13AQ85G, and ONR through N000141410047.
NASA Valkyrie robot assembly time lapse
On April 6, 2016, NASA delivered a Valkyrie robot to UMass Lowell's NERVE Center. Researchers from Northeastern University (Taskin Padir and Robert Platt) and UMass Lowell (Holly Yanco) are collaborating to develop new capabilities for the robot.
Robotics 1 2014
Projects from Umass Lowell's Robotics 1 2014 class, taught by Professor Holly Yanco.
Robotics 1 2015
Projects from Umass Lowell's Robotics 1 2015 class, taught by Professor Holly Yanco.
Augmented Reality Eyeglasses for Children with Cerebral Palsy
Christopher Munroe, Yuanliang Meng, Holly Yanco, and Momotaz Begum. “Augmented Reality Eyeglasses for Promoting Home-Based Rehabilitation for Children with Cerebral Palsy.” Abstract and video in Proceedings of the 11th Annual ACM/IEEE International Conference on Human-Robot Interaction, Christchurch, New Zealand, March 2016.