Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene
For more information, please visit: www.hsi.gatech.edu This work has been presented at IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems at Taipei, Taiwan. This video shows Cody, a human-scale robot, with a compliant arm performing wiping motions that are involved in bed baths. An interface enables a human operator to select an area to clean, after which the robot autonomously performs a wiping motion using equilibrium point control. We tested the robot’s performance by commanding the robot to wipe off a 1-inch square area of debris placed on the surface of the upper arm, forearm, thigh, and leg of a single human subject. Citation: Chih-Hung King, Tiffany Chen, Advait Jain, Charles C. Kemp, “Towards an Assistive Robot that Autonomously Performs Bed Baths for Patient Hygiene,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010, pp. 319-324.
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