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Anomaly Detection during High-Contact Assistive Bathing Task

Group

University of Edinburgh, Statistical Machine Learning and Motor Control Group

Date

January 2024 - Present

Location

Edinburgh, Scotland

Skills

Robot Dynamics and Control, Pybullet Simulation Interface, Literature Review, Paper Writing, Classificaiton and Machine Learning, Research Principles

Objective

The goal of this project is to detect anomalies that occur during high-contact human-robot interaction such as an assisted bathing task.

Role

This is a senior design thesis, which means I am responsible for the entirety of the background research, project work, and presentation of the material at the end of the semester.

Results

Thus far, I have implemented the simulated human-robot interface using Pybullet. The interaction between the human and robot is modeled after prior literature in forces experienced during face wiping and bathing tasks. The robot uses an hybrid control to ensure proper force application throughout the demonstration, and the human has the ability to create both safe and unsafe motions.

Reflection

While this project is yet to be complete, it has confirmed for me my passion for research and my desire to further explore robotics, medical applicaitons, and human-robot interaction.

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