Intelligent Service Robotics

Abstract This paper introduces a novel strategy for mobile robot navigation, emphasizing sequential routing to maximize visits to people organized in groups within dynamic environments featuring both static obstacles and moving individuals. Our approach consists of three main phases: (i) processing approach points, (ii) path planning, and (iii) adaptive navigation with group-oriented approaching.…

Abstract Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both semantic understanding and spatial reasoning. Traditional methods often rely on dense training datasets or detailed geometric modeling, which demand extens…

Abstract Hand impairments caused by stroke or neuromuscular disorders severely restrict daily activities, underscoring the need for effective, home-applicable rehabilitation systems. This study presents HandMaid, a wearable hand exoskeleton that restores motion through electromyography (EMG)-based intention detection and an active backdrive safety mechanism. The system integrates a 3D-printed rig…