NDLI: Jamster: A mobile dual-arm assistive robot with Jamboxx control

Content Provider	IEEE Xplore Digital Library
Author	Cunningham, A. Keddy-Hector, W. Sinha, U. Whalen, D. Kruse, D. Braasch, J. Wen, J.T.
Copyright Year	2014
Description	Author affiliation: Jamboxx, USA (Whalen, D.) \|\| Center for Autom. Technol. & Syst., USA (Cunningham, A.; Keddy-Hector, W.; Sinha, U.; Kruse, D.; Wen, J.T.) \|\| Center for Cognition, Commun. & Culture, Rensselaer Polytech. Inst., Troy, NY, USA (Braasch, J.)
Abstract	This paper presents a mobile assistive robot that may be controlled by a mobility disabled user to perform a variety of tasks. Recent research in manipulation-based assistive robotics tends to focus on creating an autonomous robotic assistant. In contrast, our approach allows the user to manually control the robot assistant while providing guidance to the user task execution based on sensor measurements. Our implementation involves the integration of a dual-arm Baxter robot by Rethink Robotics mounted on a power wheelchair commanded by various inputs, including a sip-puff device called the Jamboxx. We call this system the Jamster. The Baxter is lightweight, can operate off the wheelchair battery through an inverter, and is safer to operate around human than traditional industrial robots. A graphical user interface with camera feedback and graphical rendition of the robot enables the user to drive the wheelchair and command the robot to perform simple tasks remotely. As an initial test of this system, we set up a simple task involving driving the Jamster to the shelf to pick up a peanut butter jar and transport it to another location - to be performed with Jamboxx only, without using one's hands. Such task is challenging if not impossible for severely mobility-impaired individuals. This work represents the first step towards our ultimate vision of a robotic assistant that could seamlessly work with mobility disabled individuals to effectively perform daily tasks and thus improve their quality of life.
Starting Page	509
Ending Page	514
File Size	1636947
Page Count	6
File Format	PDF
e-ISBN	9781479952830
DOI	10.1109/CoASE.2014.6899374
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wheelchairs Robot sensing systems Robot kinematics Joints Mobile communication
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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