The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei International Convention Center, Taipei, Taiwan, October 18-22, 2010

IROS 2010 Paper Abstract


Paper TuBT9.2

King, Chih-Hung (Georgia Institute of Technology), Chen, Tiffany (Georgia Institute of Technology), Jain, Advait (Georgia Institute of Technology), Kemp, Charlie (Georgia Institute of Technology)

Towards an Assistive Robot That Autonomously Performs Bed Baths for Patient Hygiene

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems I" (TuBT9), Tuesday, October 19, 2010, 10:40−11:00, 201D

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei International Convention Center, Taipei, Taiwan

This information is tentative and subject to change. Compiled on October 19, 2020

Keywords Medical Robots and Systems


This paper describes the design and implementation of a behavior that allows a robot with a compliant arm to perform wiping motions that are involved in bed baths. A laser-based operator-selection interface enables an operator to select an area to clean, and the robot autonomously performs a wiping motion using equilibrium point control. We evaluated the performance of the system by measuring the ability of the robot to remove an area of debris on human skin. We tested the performance of the behavior algorithm by commanding the robot to wipe off a 1-inch square area of debris placed on the surface of the upper arm, forearm, thigh, and shank of a human subject. Using image processing, we determined the hue content of the debris and used this representation to determine the percentage of debris that remained on the arm after the robot completed the task. In our experiments, the robot removed most of the debris (>96%) on four parts of the limbs. In addition, the robot performed the wiping task using relatively low force (<3 N).



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