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ICT-Supported Bath Robots

Deliverables

Dissemination and exploitation report (I)

This deliverable is related to the output of T72 and T74 This document Part I of D72 will only report on dissemination activities All of the D72 updates will be delivered together with the periodic management reports

System integration and performance metrics (II)

This deliverable is related to the output of T2.2, T2.3 and T2.5 and will demonstrate the integration and evaluation of the second prototype before the beginning of the corresponding Pilot testing. Updating of prototype continues up to Month M36 (Final Prototype & Report).

Progress Report (II)

The project report deliverable will provide an update on the project progress It is expected that progress reports will have a PU section and a CO section depending on the EU requirements

Progress report (VI)

The project report deliverable will provide an update on the overall project progress. It is expected that progress reports will have a PU section and a CO section, depending on the EU requirements.

Dissemination and exploitation report (II)

This deliverable is related to the output of T7.2 and T7.4. The dissemination part will be PU, while the exploitation/use part will be CO. This deliverable includes the identification of the I-SUPPORT exploitable assets and the individual (per partner and per asset) exploitation plans. All of the D7.2 updates will be delivered together with the periodic management reports.

Progress Report (IV)

The project report deliverable will provide an update on the project progress. It is expected that progress reports will have a PU section and a CO section, depending on the EU requirements.

Evaluation Plan (II)

This deliverable is related to the output of T6.1, where an overall evaluation plan will be formulated following a 4-step approach.

Progress Report (V)

The project report deliverable will provide an update on the project progress. It is expected that progress reports will have a PU section and a CO section, depending on the EU requirements.

Progress Report (III)

The project report deliverable will provide an update on the project progress. It is expected that progress reports will have a PU section and a CO section, depending on the EU requirements.

Dissemination and exploitation reports (III)

This deliverable is related to the output of T7.2 and T7.4. The document will provide a full presentation of all dissemination activities and exploitation plans from all aspects described in T7.4. All of the D7.2 updates will be delivered together with the periodic management reports.

Sociological, gender and ethical considerations

This deliverable is related to the output of T15 and contains analysis on the sociological gender and ethical considerations Revisions of D13 delivered in M7 will be conducted up to M36 as required and as Pilot testing activities progress Ethical approvals before pilot testing are milestones

Service robotic system description and architecture (I)

This deliverable is related to the output of T21 and contains specifications for all system blocks operating systems programming languages libraries system interconnections communication protocols middleware and application layers We will define interoperability standards so that the aforementioned can be seamlessly integrated All software interfaces will be clarified and agreed between partners All partners will agree on common softwaredocumentation standards All hardware interfaces will be clarified and agreed between partners All partners will agree on common hardwaredocumentation standards

I-SUPPORT Models of user abilities and behaviour, use cases and system functionalities

This deliverable is related to the output of T11 T12 and T14 and contains ISUPPORT Models of user abilities and behaviour use cases and system functionalities Intermediate milestone reports will be delivered on M3 user requirements and M5 initial use cases Revisions of D11 delivered in M7 will be conducted up to M18 as required and as development work progresses

System integration and performance metrics (III)

This deliverable is related to the output of T2.2, T2.3 and T2.5 and and will demonstrate the integration and evaluation of the final prototype.

Safety requirements

This deliverable is related to the output of T13 and contains the analysis of ISUPPORT system safety requirements An intermediate milestone report will be delivered on M5 Revisions of the M12 report on safety requirements will be provided throughout the project as required and as development work progresses

Service robotics system description and architecture (II)

Update the first version of the system description and architecture.

Progress Report

Progress reports are expected to have a PU section and a CO section Periodic progress reports will be published on M6 M12 M18 M24 M30 M36 This deliverable is defined in the Grant Agreement offered by the EC and is related to all WP8 tasks

System vision functionality (II)

This deliverable is related to the output of T4.1 and T4.2 and will demonstrate the advanced features of the system vision functionality. Intermediate milestones for both tasks are set on Month 18. The deliverable will be updated up to M35.

Evaluation Plan (I)

This deliverable is related to the output of T6.1 and will be formulated following a 4 step approach.

System Integration and Performance Metrics

This deliverable is related to the output of T2.2, T2.3 and T2.5 and will demonstrate the first I-SUPPORT prototype before the beginning of the pilot testing. The deliverable will contain also assessment of the system performance based on performance metrics.

Safety validation results (II)

Safety validation results published on Month M30 before the Pilot testing and I-SUPPORT prototype integration. This deliverable is related to the output of T2.4.

System vision functionality

This deliverable is related to the output of T4.1 and T4.2 and will demonstrate the first system vision functionalities. Intermediate milestones for both tasks are set on Month 18. The deliverable will be updated up to M35.

Safety validation results (I)

We will perform a first I-SUPPORT prototype safety validation on M23 with update on Month M30 (each delivery before the Pilot testing and I-SUPPORT prototype integration). This deliverable is related to the output of T2.4. A separate deliverable is devoted to T2.4, because a lot of effort will be put on safety evaluation and because of its significance to the acceptability of the I-SUPPORT system.

Dissemination Plan and Communication tools

Within this task the consortium will create and regularly update a dissemination plan for the effective and highimpact dissemination of the project results The internal and external communication tools to be used in the context of the project will also be defined including the web site the file repository the web 20 tools such as the wiki templates of various kinds leaflets etc

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Publications

Design of motion-tracking device for intuitive and safe human-robot physical interaction

Author(s): Panagiotis Vartholomeos, Nikos Katevas, Andreas Papadakis, Lambros Sarakis
Published in: 2016 International Conference on Telecommunications and Multimedia (TEMU), 2016, Page(s) 1-6, ISBN 978-1-4673-8409-4
Publisher: IEEE
DOI: 10.1109/TEMU.2016.7551933

Task-oriented generalization of dynamic movement primitive

Author(s): You Zhou, Tamim Asfour
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 3202-3209, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206153

Coordinate Change Dynamic Movement Primitives — A leader-follower approach

Author(s): You Zhou, Martin Do, Tamim Asfour
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 5481-5488, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759806

Learning and force adaptation for interactive actions

Author(s): You Zhou, Martin Do, Tamim Asfour
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 1129-1134, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2016.7803412

Dimensionality reduction for whole-body human motion recognition

Author(s): Christian Mandery, Matthias Plappert, Júlia Borràs, Tamim Asfour
Published in: 19th International Conference on Information Fusion (FUSION), 2016, ISBN 978-0-9964-5274-8
Publisher: IEEE

Real-time whole-body human motion tracking based on unlabeled markers

Author(s): Jannik Steinbring, Christian Mandery, Florian Pfaff, Florian Faion, Tamim Asfour, Uwe D. Hanebeck
Published in: 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2016, Page(s) 583-590, ISBN 978-1-4673-9708-7
Publisher: IEEE
DOI: 10.1109/MFI.2016.7849550

Design of a bath robot system — User definition and user requirements based on International Classification of Functioning, Disability and Health (ICF)

Author(s): Jochen Werle, Klaus Hauer
Published in: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016, Page(s) 459-466, ISBN 978-1-5090-3929-6
Publisher: IEEE
DOI: 10.1109/ROMAN.2016.7745159

Towards ICT-supported bath robots: Control architecture description and localized perception of user for robot motion planning

Author(s): Athanasios C. Dometios, Xanthi S. Papageorgiou, Costas S. Tzafestas, Panagiotis Vartholomeos
Published in: 2016 24th Mediterranean Conference on Control and Automation (MED), 2016, Page(s) 713-718, ISBN 978-1-4673-8345-5
Publisher: IEEE
DOI: 10.1109/MED.2016.7535954

Multimodal Signal Processing and Learning Aspects of Human-Robot Interaction for an Assistive Bathing Robot

Author(s): A. Zlatintsi, I. Rodomagoulakis, P. Koutras, A. C. Dometios, V. Pitsikalis, C. S. Tzafestas, P. Maragos
Published in: IEEE ICASSP 2018, 2018
Publisher: IEEE

Real-time end-effector motion behavior planning approach using on-line point-cloud data towards a user adaptive assistive bath robot

Author(s): Athanasios C. Dometios, Xanthi S. Papageorgiou, Antonis Arvanitakis, Costas S. Tzafestas, Petros Maragos
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 5031-5036, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206387

Social Human-Robot Interaction for the Elderly - Two Real-life Use Cases

Author(s): Athanasia Zlatintsi, Isidoros Rodomagoulakis, Vassilis Pitsikalis, Petros Koutras, Nikolaos Kardaris, Xanthi Papageorgiou, Costas Tzafestas, Petros Maragos
Published in: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI '17, 2017, Page(s) 335-336, ISBN 9781-450348850
Publisher: ACM Press
DOI: 10.1145/3029798.3038400

ICT-Supported Bath Robots: Design Concepts

Author(s): X. S. Papageorgiou, C. S. Tzafestas, P. Vartholomeos, C. Laschi, R. Lopez
Published in: 17th International Conference on Social Robotics (ICSR’2015), Workshop on Improving the quality of life in the elderly using robotic assistive technology: benefits, limitations, and challenges, 2015
Publisher: Springer

Integrated Speech-based Perception System for User Adaptive Robot Motion Planning in Assistive Bath Scenarios

Author(s): Dometios, Athanasios; Tsiami, Antigoni; Giannoulis, Panagiotis; Arvanitakis, Antonis; Papageorgiou, Xanthi; Tzafestas, Kostas; Maragos, Petros
Published in: Workshop MultiLearn 2017 (Multimodal processing, modeling and learning for human-computer/robot interaction applications), 25th European Signal Processing Conference (EUSIPCO 2017), 2017
Publisher: EURASIP
DOI: 10.5281/zenodo.1160322

Exploiting Morphology of a Soft Manipulator for Assistive Tasks

Author(s): Mariangela Manti, Thomas George Thuruthel, Francesco Paolo Falotico, Andrea Pratesi, Egidio Falotico, Matteo Cianchetti, Cecilia Laschi
Published in: 2018, Page(s) 291-301
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-63537-8_25

Soft assistive robot for personal care of elderly people

Author(s): M. Manti, A. Pratesi, E. Falotico, M. Cianchetti, C. Laschi
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 833-838, ISBN 978-1-5090-3287-7
Publisher: IEEE
DOI: 10.1109/BIOROB.2016.7523731

Induced Vibrations of Soft Robotic Manipulators for Controller Design and Stiffness Estimation

Author(s): Thuruthel, T. G., Manti M., Falotico E., Cianchetti M., & Laschi, C
Published in: Biomedical Robotics and Biomechatronics (BioRob), 2018
Publisher: IEEE

DenseReg: Fully Convolutional Dense Shape Regression In-the-Wild

Author(s): Riza Alp Guler, George Trigeorgis, Epameinondas Antonakos, Patrick Snape, Stefanos Zafeiriou, Iasonas Kokkinos
Published in: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, Page(s) 2614-2623, ISBN 978-1-5386-0457-1
Publisher: IEEE
DOI: 10.1109/CVPR.2017.280

UberNet: Training a Universal Convolutional Neural Network for Low-, Mid-, and High-Level Vision Using Diverse Datasets and Limited Memory

Author(s): Iasonas Kokkinos
Published in: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, Page(s) 5454-5463, ISBN 978-1-5386-0457-1
Publisher: IEEE
DOI: 10.1109/CVPR.2017.579

Vision-Based Online Adaptation of Motion Primitives to Dynamic Surfaces: Application to an Interactive Robotic Wiping Task

Author(s): Athanasios C. Dometios, You Zhou, Xanthi S. Papageorgiou, Costas S. Tzafestas, Tamim Asfour
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1410-1417, ISSN 2377-3766
Publisher: IEEE Robotics and Automation
DOI: 10.1109/LRA.2018.2800031

A robotic shower system

Author(s): Barbara Klein, Inga Schlömer
Published in: Zeitschrift für Gerontologie und Geriatrie, 51/1, 2018, Page(s) 25-31, ISSN 0948-6704
Publisher: Dr. Dietrich Steinkopff Verlag
DOI: 10.1007/s00391-017-1345-9

Stable Open Loop Control of Soft Robotic Manipulators

Author(s): Thomas George Thuruthel, Egidio Falotico, Mariangela Manti, Cecilia Laschi
Published in: IEEE Robotics and Automation Letters, 3/2, 2018, Page(s) 1292-1298, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2797241

Multiobjective Optimization for Stiffness and Position Control in a Soft Robot Arm Module

Author(s): Y. Ansari, M. Manti, E. Falotico, M. Cianchetti, C. Laschi
Published in: IEEE Robotics and Automation Letters, 3/1, 2018, Page(s) 108-115, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2734247

Learning Closed Loop Kinematic Controllers for Continuum Manipulators in Unstructured Environments

Author(s): Thomas George Thuruthel, Egidio Falotico, Mariangela Manti, Andrea Pratesi, Matteo Cianchetti, Cecilia Laschi
Published in: Soft Robotics, 4/3, 2017, Page(s) 285-296, ISSN 2169-5172
Publisher: Soft robotics
DOI: 10.1089/soro.2016.0051

Stiffening in Soft Robotics: A Review of the State of the Art

Author(s): Mariangela Manti, Vito Cacucciolo, Matteo Cianchetti
Published in: IEEE Robotics & Automation Magazine, 23/3, 2016, Page(s) 93-106, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2016.2582718

Towards the development of a soft manipulator as an assistive robot for personal care of elderly people

Author(s): Yasmin Ansari, Mariangela Manti, Egidio Falotico, Yoan Mollard, Matteo Cianchetti, Cecilia Laschi
Published in: International Journal of Advanced Robotic Systems, 14/2, 2017, Page(s) 172988141668713, ISSN 1729-8814
Publisher: International Journal of Advanced Robotic Systems.
DOI: 10.1177/1729881416687132

DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs

Author(s): Liang-Chieh Chen, George Papandreou, Iasonas Kokkinos, Kevin Murphy, Alan L. Yuille
Published in: IEEE Transactions on Pattern Analysis and Machine Intelligence, 40/4, 2018, Page(s) 834-848, ISSN 0162-8828
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TPAMI.2017.2699184