Robotic Limb Repositioning with Supervised Autonomy

摘要

This paper presents the initial efforts towards developing a robotic limb repositioning system. We aim to combine programming by demonstration and end-user programming in a tele-manipulation system that includes the user in the loop. We propose an approach based on a general-purpose mobile manipulator and a web-based interface where a user can select, edit, preview and execute different repositioning exercises based on the selected limb. This approach shows the potential to empower people who have mobility impairments to be more involved in an activity of daily living.