MOBILE ROBOT MANIPULATORS FOR LEARNING AND EXECUTING INSTRUMENTAL ACTIVITIES OF DAILY LIVING - ABSTRACT Fixed-base assistive robots have been traditionally utilized to augment the functional capacity of individuals with disability. The introduction of Wheelchair Mounted Robotic Arms and Companion Robots has added the element of mobility to manipulation which allows employment of these devices for assistance with Instrumental Activities of Daily Living (IADLs) in a variety of settings such as home, office, public places, etc. While these devices are capable of being highly versatile, they suffer from the problem of control complexity with their multiple degrees of freedom. Thus, full benefit of mobile assistive robots can only be reaped if these devices can learn skills related to IADLs that are replicable in different environments. Motivated by this belief, this proposal deals with the development of intelligent mobile robotic assistants with the goal of promoting lifelong independent living, self-esteem, and opportunities for gainful employment for individuals with paralysis caused by Stroke, SCI, TBI, CP, MS, etc. The objectives are: (a) reducing caregiver strain and dependence for IADLs through development of intelligent robotic assistants, (b) increasing usability of robotic assistants through better human-robot interface designs, and (c) development of collaborative control techniques for safe and efficient sharing of workload between individuals with disabilities and their robotic assistants. The following outcomes are expected: (a) Users with both low- and high-level paralysis will have less need for caregiver support, (b) young individuals with paralysis will have increased opportunities for education, (c) Quality of Life will be enhanced via access to efficient mobile manipulation. Anticipated products are: (a) mobile manipulators with ability to learn new IADLs, and (b) flexible user interface for robotic assistants. Outcome domains: Primary: Community Living and Participation, Secondary: Employment
