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Interface-Aware Robotic Intelligence and Assistance
Interface-Aware Robotic Intelligence and Assistance
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211150959
- ISBN
- 9798381977257
- DDC
- 629.8
- 서명/저자
- Interface-Aware Robotic Intelligence and Assistance
- 발행사항
- [Sl] : Northwestern University, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 152 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-10, Section: B.
- 주기사항
- Advisor: Argall, Brenna.
- 학위논문주기
- Thesis (Ph.D.)--Northwestern University, 2024.
- 초록/해제
- 요약This thesis scientifically investigates the intricacies of using control interfaces of various characteristics to operate robotic devices. The insights of the exploratory studies ground the main conceptual contribution of this thesis, which is the incorporation of interface aware intelligence into robotic systems. In the broader domain of robotics, the two major sources of uncertainty in the signals considered when formulating autonomous assistance are typically from the robot sensors and robot actuators. In the domain of human-robot interaction, and specifically in shared control, an additional source of noisy information is present and pertinent: that of the human operator's signal. Historically, the source of the human signal and its characteristics have been largely ignored. This gap is especially evident in the realm of assistive devices for users with motor impairments, where the diverse range of interfaces, specifically designed to accommodate the spectrum of the users' remaining functional abilities, underscores the need for a more nuanced approach. This signal can be utilized by the robotics autonomy in various ways. Noise, transient delay, bias, and other characteristics of this signal can therefore affect the overall human-robot collaboration depending on how and where the human signal is used. For robotics autonomy to be adopted, it must be accessible to those it is meant to benefit, particularly those facing severe motor restrictions. The work in this thesis was approached from the perspective of designing tools that are accessible to those with high levels of motor limitations. The aspiration is to enhance human-robot synergy through interface awareness, potentially bridging the gap between technical advancement and meaningful clinical application. The aim is to lay important groundwork for further consideration and innovation in assistive robotic technologies with an emphasis on end-user needs.The scientific methodology employed begins with initial exploratory studies, progresses through the formulation phase, and culminates in the transfer of knowledge from the robotics domain to clinical rehabilitation. The exploratory phase provides evidence that underscores the importance of interface awareness, proposing a comprehensive set of guidelines for the design of interface-aware assistance. The substantial insights garnered from this exploration were subsequently refined into testable frameworks, followed by the algorithmic formulation of interface awareness, which was validated through both simulation and real hardware experiments. The thesis culminates with the translation of interface usage characterization concepts from robotics research into the clinical sphere, thereby facilitating the quantitative assessment of therapy outcomes.
- 일반주제명
- Robotics
- 일반주제명
- Mechanical engineering
- 기타저자
- Northwestern University Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 85-10B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520250211150959
■006m o d
■007cr#unu||||||||
■020 ▼a9798381977257
■035 ▼a(MiAaPQ)AAI30993802
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aNejati Javaremi, Mahdieh.▼0(orcid)0000-0003-4368-4572
■24510▼aInterface-Aware Robotic Intelligence and Assistance
■260 ▼a[Sl]▼bNorthwestern University▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a152 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-10, Section: B.
■500 ▼aAdvisor: Argall, Brenna.
■5021 ▼aThesis (Ph.D.)--Northwestern University, 2024.
■520 ▼aThis thesis scientifically investigates the intricacies of using control interfaces of various characteristics to operate robotic devices. The insights of the exploratory studies ground the main conceptual contribution of this thesis, which is the incorporation of interface aware intelligence into robotic systems. In the broader domain of robotics, the two major sources of uncertainty in the signals considered when formulating autonomous assistance are typically from the robot sensors and robot actuators. In the domain of human-robot interaction, and specifically in shared control, an additional source of noisy information is present and pertinent: that of the human operator's signal. Historically, the source of the human signal and its characteristics have been largely ignored. This gap is especially evident in the realm of assistive devices for users with motor impairments, where the diverse range of interfaces, specifically designed to accommodate the spectrum of the users' remaining functional abilities, underscores the need for a more nuanced approach. This signal can be utilized by the robotics autonomy in various ways. Noise, transient delay, bias, and other characteristics of this signal can therefore affect the overall human-robot collaboration depending on how and where the human signal is used. For robotics autonomy to be adopted, it must be accessible to those it is meant to benefit, particularly those facing severe motor restrictions. The work in this thesis was approached from the perspective of designing tools that are accessible to those with high levels of motor limitations. The aspiration is to enhance human-robot synergy through interface awareness, potentially bridging the gap between technical advancement and meaningful clinical application. The aim is to lay important groundwork for further consideration and innovation in assistive robotic technologies with an emphasis on end-user needs.The scientific methodology employed begins with initial exploratory studies, progresses through the formulation phase, and culminates in the transfer of knowledge from the robotics domain to clinical rehabilitation. The exploratory phase provides evidence that underscores the importance of interface awareness, proposing a comprehensive set of guidelines for the design of interface-aware assistance. The substantial insights garnered from this exploration were subsequently refined into testable frameworks, followed by the algorithmic formulation of interface awareness, which was validated through both simulation and real hardware experiments. The thesis culminates with the translation of interface usage characterization concepts from robotics research into the clinical sphere, thereby facilitating the quantitative assessment of therapy outcomes.
■590 ▼aSchool code: 0163.
■650 4▼aRobotics
■650 4▼aMechanical engineering
■653 ▼aAssistive robotics
■653 ▼aAutonomous assistance
■653 ▼aHuman-robot interaction
■653 ▼aInterface awareness
■653 ▼aMotor impairments
■690 ▼a0771
■690 ▼a0800
■690 ▼a0548
■71020▼aNorthwestern University▼bMechanical Engineering.
■7730 ▼tDissertations Abstracts International▼g85-10B.
■790 ▼a0163
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17160333▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
