Friday, July 4, 2025 7/4/2025

NRI: An Egocentric Computer Vision based Active Learning Co-Robot Wheelchair

Award Number: R01NR015371
ORGANIZATION: NATIONAL INSTITUTE OF NURSING RESEARCH
OPDIV: NIH
AWARD CLASS: DISCRETIONARY
AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)
PERIOD OF PERFORMANCE START DATE: 09/01/2014
PERIOD OF PERFORMANCE END DATE: 02/28/2019

Group Awards By:

View Award Description

NRI: An Egocentric Computer Vision based Active Learning Co-Robot Wheelchair - DESCRIPTION (provided by applicant): The aim of this proposal is to conduct research on the foundational models and algorithms in computer vision and machine learning for an egocentric vision based active learning co-robot wheelchair system to improve the quality of life of elders and disabled who have limited hand functionality or no hand functionality at all, and rely on wheelchairs for mobility. In this co-robt system, the wheelchair users wear a pair of egocentric camera glasses, i.e., the camera is capturing the users' field-of-the-views. This project help reduce the patients' reliance on care-givers. It fits NINR's mission in addressing key issues raised by the Nation's aging population and shortages of healthcare workforces, and in supporting patient-focused research that encourage and enable individuals to become guardians of their own well-beings. The egocentric camera serves two purposes. On one hand, from vision based motion sensing, the system can capture unique head motion patterns of the users to control the robot wheelchair in a noninvasive way. Secondly, it serves as a unique environment aware vision sensor for the co-robot system as the user will naturally respond to the surroundings by turning their focus of attention, either consciously or subconsciously. Based on the inputs from the egocentric vision sensor and other on-board robotic sensors, an online learning reservoir computing network is exploited, which not only enables the robotic wheelchair system to actively solicit controls from the users when uncertainty is too high for autonomous operation, but also facilitates the robotic wheelchair system to learn from the solicited user controls. This way, the closed- loop co-robot wheelchair system will evolve and be more capable of handling more complicated environment overtime. The aims ofthe project include: 1) develop an method to harness egocentric computer vision-based sensing of head movements as an alternative method for wheelchair control; 2) develop a method leveraging visual motion from the egocentric camera for category independent moving obstacle detection; and 3) close the loop of the active learning co-robot wheelchair system through uncertainty based active online learning.


Issue Date FY	Funding FY	Legal Entity Name	Legal Entity Address	Legal Entity City	Legal Entity State	Legal Entity Zip Code	Legal Entity COUNTY	Legal Entity COUNTRY	Assistance Listing	Award Code	Budget Year	Action Date	Action Type	Action Amount

Issue Date FY: 2023 ( Subtotal = -$55,971 )
2023	2017	THE TRUSTEES OF THE STEVENS INSTITUTE OF TECHNOLOGY	1 CASTLEPOINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	3	10/1/2022	NON-COMPETING CONTINUATION	-$55,971
														Subtotal = -$55,971

Issue Date FY: 2019 ( Subtotal = -$10,534 )
2019	2017	STEVENS INSTITUTE OF TECHNOLOGY (INC)	1 CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	001	3	8/16/2019	NON-COMPETING CONTINUATION	-$216
2019	2017	STEVENS INSTITUTE OF TECHNOLOGY (INC)	1 CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	3	7/17/2019	NON-COMPETING CONTINUATION	-$10,318
														Subtotal = -$10,534

Issue Date FY: 2018 ( Subtotal = $0 )
2018	2017	STEVENS INSTITUTE OF TECHNOLOGY (INC)	1 CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	3	8/13/2018	NON-COMPETING CONTINUATION	$0
														Subtotal = $0

Issue Date FY: 2017 ( Subtotal = $233,916 )
2017	2017	STEVENS INSTITUTE OF TECHNOLOGY (INC)	1 CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	3	8/17/2017	NON-COMPETING CONTINUATION	$233,916
														Subtotal = $233,916

Issue Date FY: 2016 ( Subtotal = $0 )
2016	2015	STEVENS INSTITUTE OF TECHNOLOGY	CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	2	8/29/2016	NON-COMPETING CONTINUATION	$0
														Subtotal = $0

Issue Date FY: 2015 ( Subtotal = $236,355 )
2015	2015	STEVENS INSTITUTE OF TECHNOLOGY	CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	2	8/27/2015	NON-COMPETING CONTINUATION	$236,355
														Subtotal = $236,355

Issue Date FY: 2014 ( Subtotal = $255,663 )
2014	2014	STEVENS INSTITUTE OF TECHNOLOGY	CASTLE POINT ON HUDSON	HOBOKEN	NJ	07030	HUDSON	USA	Nursing Research	000	1	8/19/2014	NEW	$255,663
														Subtotal = $255,663

Grand Total All Awards = $659,429

Top

All Categories

About

Search

Reports

Data Submission

Award Information

NRI: An Egocentric Computer Vision based Active Learning Co-Robot Wheelchair

Award Number: R01NR015371

ORGANIZATION: NATIONAL INSTITUTE OF NURSING RESEARCH

OPDIV: NIH

AWARD CLASS: DISCRETIONARY

AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

PERIOD OF PERFORMANCE START DATE: 09/01/2014

PERIOD OF PERFORMANCE END DATE: 02/28/2019

Federal Websites

Department of Health & Human Services

HHS Operating Divisions

HHS Staff Divisions

Download A Document Viewer