Work

Investigating Learning Assistance by Demonstration for Robotic Wheelchairs: A Simulation Approach

Year: 2025

Type: article

Abstract: A major challenge for robots that provide physical assistance is adapting to the needs of different people. To overcome this, personalised assistive models can be created by observing the demonstrations of help provided by an assistant, a setting known as Learning Assistance by Demonstration (LAD). In this work, the case of robotic wheelchairs and drivers with hand control disabilities, which make navigation more challenging, was considered. To better understand LAD and its features, a simulator capable of generating repeatable examples of the triadic interactions between drivers, robots, and assistants was developed. The software is designed to be modular and parametrisable, enabling customisation and experimentation with various synthetic disabilities and scenarios. This approach was employed to design more effective data collection procedures and to enhance learning models. With these, it is shown that, at least in simulation, LAD can be used as follows: for different disabilities; to help consistently; to generalise to physically different environments; and to create customised assistive policies. In summary, the results provide further evidence that LAD is a viable approach for efficiently creating personalised assistive solutions for robotic wheelchairs.

Source: Robotics

DOI: 10.3390/robotics14100136

Authors: Vinícius Barbosa Schettino, Murillo Ferreira dos Santos, Paolo Mercorelli

Institutions: Federal Center for Technological Education of Minas Gerais, Leuphana University of Lüneburg

Language: English

Topic: Prosthetics and Rehabilitation Robotics

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,172

Funder: Coordenação de Aperfeiçoamento de Pessoal de Nível Superior