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Human-Machine Communication in Assis...

Kalinowska, Aleksandra Ola.

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Human-Machine Communication in Assistive and Rehabilitation Robotics.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Human-Machine Communication in Assistive and Rehabilitation Robotics./
Author:	Kalinowska, Aleksandra Ola.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2023,
Description:	203 p.
Notes:	Source: Dissertations Abstracts International, Volume: 85-02, Section: B.
Contained By:	Dissertations Abstracts International85-02B.
Subject:	Robotics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30632895
ISBN:	9798380148344

Human-Machine Communication in Assistive and Rehabilitation Robotics.
Kalinowska, Aleksandra Ola.

Human-Machine Communication in Assistive and Rehabilitation Robotics. - Ann Arbor : ProQuest Dissertations & Theses, 2023 - 203 p.

Source: Dissertations Abstracts International, Volume: 85-02, Section: B.

Thesis (Ph.D.)--Northwestern University, 2023.

Assistive robots have the potential to support motor recovery after an injury as well as to alleviate the burden of physical tasks for both impaired and able-bodied individuals. Over the last few decades assistive robots have become increasingly more capable. Many can now provide task-specific assistance and can be safe enough to physically interact with people, but they are still incapable of versatile collaboration.While effective assistance requires robots to adapt to and infer intent from their human partners, adaptation and intent inference are particularly challenging when the tasks are novel and/or dynamic. As a result, existing robots have difficulty engaging in activities that involve dynamic motion, such as catching a falling object, as well as tasks that are unfamiliar to the robot. One of the main contributing factors are the limited communication capabilities available to the human-robot pair. Unlike a pair of people, the human-robot pair does not have the ability to communicate flexibly to coordinate interaction, so the robot often relies on passively inferring intent from human movement or interpreting inputs from a joystick-like interface. There is a need for flexible and comprehensive languages for human-machine communication.In this thesis, I present mathematical formulations and algorithmic tools that enable the robot to interpret dynamic motion as a communication signal in the context of a task. I begin by characterizing metrics of dynamic performance and show how they can be used to study post-stroke impairments. I then introduce methods that enable human-robot teams to co-create communication protocols from interaction. Lastly, I design algorithms that parse demonstrations of dynamic tasks to learn task definitions that enable the robot to recreate a new dynamic skill. In each case, I show how the algorithmic tools can improve robotic assistance by testing them on robots interacting with people. I conclude this thesis with a discussion of future research directions that will help facilitate flexible human-machine communication for versatile assistance and rehabilitation.

ISBN: 9798380148344Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Assistive robotics

Human-Machine Communication in Assistive and Rehabilitation Robotics.
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245 1 0 $a Human-Machine Communication in Assistive and Rehabilitation Robotics.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2023
300 $a 203 p.
500 $a Source: Dissertations Abstracts International, Volume: 85-02, Section: B.
500 $a Advisor: Murphey, Todd.
502 $a Thesis (Ph.D.)--Northwestern University, 2023.
520 $a Assistive robots have the potential to support motor recovery after an injury as well as to alleviate the burden of physical tasks for both impaired and able-bodied individuals. Over the last few decades assistive robots have become increasingly more capable. Many can now provide task-specific assistance and can be safe enough to physically interact with people, but they are still incapable of versatile collaboration.While effective assistance requires robots to adapt to and infer intent from their human partners, adaptation and intent inference are particularly challenging when the tasks are novel and/or dynamic. As a result, existing robots have difficulty engaging in activities that involve dynamic motion, such as catching a falling object, as well as tasks that are unfamiliar to the robot. One of the main contributing factors are the limited communication capabilities available to the human-robot pair. Unlike a pair of people, the human-robot pair does not have the ability to communicate flexibly to coordinate interaction, so the robot often relies on passively inferring intent from human movement or interpreting inputs from a joystick-like interface. There is a need for flexible and comprehensive languages for human-machine communication.In this thesis, I present mathematical formulations and algorithmic tools that enable the robot to interpret dynamic motion as a communication signal in the context of a task. I begin by characterizing metrics of dynamic performance and show how they can be used to study post-stroke impairments. I then introduce methods that enable human-robot teams to co-create communication protocols from interaction. Lastly, I design algorithms that parse demonstrations of dynamic tasks to learn task definitions that enable the robot to recreate a new dynamic skill. In each case, I show how the algorithmic tools can improve robotic assistance by testing them on robots interacting with people. I conclude this thesis with a discussion of future research directions that will help facilitate flexible human-machine communication for versatile assistance and rehabilitation.
590 $a School code: 0163.
650 4 $a Robotics. $3 519753
650 4 $a Communication. $3 524709
650 4 $a Physical therapy. $3 588713
650 4 $a Mechanical engineering. $3 649730
653 $a Assistive robotics
653 $a Human-in-the-loop
653 $a Human-machine communication
653 $a Imitation learning
653 $a Metrics of motion
653 $a Stroke rehabilitation
690 $a 0771
690 $a 0459
690 $a 0382
690 $a 0800
690 $a 0548
710 2 $a Northwestern University. $b Mechanical Engineering. $3 1018403
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791 $a Ph.D.
792 $a 2023
793 $a English
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