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2016


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Quantifying Therapist Practitioner Roles Using Video-based Analysis: Can We Reliably Model Therapist-Patient Interactions During Task-Oriented Therapy?

Mendonca, R., Johnson, M. J., Laskin, S., Adair, L., Mohan, M.

pages: E55-E56, Abstract in the Archives of Physical Medicine and Rehabilitation, October 2016 (misc)

DOI [BibTex]

2016

DOI [BibTex]


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Design of a Low-Cost Platform for Autonomous Mobile Service Robots

Eaton, E., Mucchiani, C., Mohan, M., Isele, D., Luná, J. M., Clingerman, C.

Workshop paper (7 pages) presented at the 25th International Joint Conference on Artificial Intelligence (IJCAI) Workshop on Autonomous Mobile Service Robots, New York, USA, 2016 (misc)

Abstract
Most current autonomous mobile service robots are either expensive commercial platforms or custom manufactured for research environments, limiting their availability. We present the design for a lowcost service robot based on the widely used TurtleBot 2 platform, with the goal of making service robots affordable and accessible to the research, educational, and hobbyist communities. Our design uses a set of simple and inexpensive modifications to transform the TurtleBot 2 into a 4.5ft (1.37m) tall tour-guide or telepresence-style robot, capable of performing a wide variety of indoor service tasks. The resulting platform provides a shoulder-height touchscreen and 3D camera for interaction, an optional low-cost arm for manipulation, enhanced onboard computation, autonomous charging, and up to 6 hours of runtime. The resulting platform can support many of the tasks performed by significantly more expensive service robots. For compatibility with existing software packages, the service robot runs the Robot Operating System (ROS).

link (url) [BibTex]

link (url) [BibTex]

2013


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Governance of Humanoid Robot Using Master Exoskeleton

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Symposium on Robotics (ISR), Seoul, South Korea, October 2013 (inproceedings)

Abstract
Dexto:Eka: is an adult-size humanoid robot being developed with the aim of achieving tele-presence. The paper sheds light on the control of this robot using a Master Exoskeleton which comprises of an Exo-Frame, a Control Column and a Graphical User Interface. It further illuminates the processes and algorithms that have been utilized to make an efficient system that would effectively emulate a tele-operator.

DOI [BibTex]

2013

DOI [BibTex]


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Design and development part 2 of Dexto:Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, August 2013 (inproceedings)

Abstract
Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system.

DOI [BibTex]

DOI [BibTex]