An assistive robot to support dressing – strategies for planning and error handling

Chance, G., Camilleri, A., Winstone, B., Caleb-Solly, P. and Dogramadzi, S. (2016) An assistive robot to support dressing – strategies for planning and error handling. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 26-29 June 2016., pp. 774-780 Available from:

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Assistive robots are emerging to address a social need due to changing demographic trends such as an ageing population. The main emphasis is to offer independence to those in need and to fill a potential labour gap in response to the increasing demand for caregiving. This paper presents work undertaken as part of a dressing task using a compliant robotic arm on a mannequin. Several strategies are explored on how to undertake this task with minimal complexity and a mix of sensors. A Vicon tracking system is used to determine the arm position of the mannequin for trajectory planning by means of waypoints. Methods of failure detection were explored through torque feedback and sensor tag data. A fixed vocabulary of recognised speech commands was implemented allowing the user to successfully correct detected dressing errors. This work indicates that low cost sensors and simple HRI strategies, without complex learning algorithms, could be used successfully in a robot assisted dressing task.

Item Type:Conference or Workshop Item (Paper)
Additional Information:© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Uncontrolled Keywords:rehabilitation and assistive robotics, human-machine interaction
Faculty/Department:Faculty of Environment and Technology > Department of Computer Science and Creative Technologies
ID Code:28967
Deposited By: Dr G. Chance
Deposited On:01 Jun 2016 13:42
Last Modified:02 Mar 2018 17:25

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