Asibot
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Updated: 19 November 2019 - 5:04pm by C. Balaguer
ASIBOT is a portable assistive robot for elderly and disabled people bringing more freedom in daily tasks as eating, drinking, shaving, make up, teeth brushing, etc. The robot has been under testing in the National Hospital of Paraplegics in Toledo.
ASIBOT is a manipulator robot with 5 DOF, about 10 kg of weight, 1.3 m of reach and 2 kg of payload. The feature that makes the robot unique is the fact that all the control system is on-board. It needs only 24V external power supply for start working. This is why the robot is totally portable with the weight and size (after homing) that enables it to be transported, for example, as a hand bag on an airplane.
The robot has a symmetrical structure and is equipped with special conical connectors on each tip. This configuration makes it able to climb between static and very simple docking stations situated in the environment. The climbing ability of the ASIBOT transforms it into a mobile robot able to move in domestic and office structural environments.
The robot applications are oriented mainly to domestic assistive tasks for elderly and disabled people. The robot has a three finger (with 8 flanges) gripper inside of each tip conical connector to manipulate different objects or tools. The applications that have been tested in real environments and with real patients are: eating, drinking, shaving, make up, teeth brushing, etc. The robot has been under testing in the National Hospital for Tetraplegics in Toledo.
Source code at GitHub:
Journal Publications
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Journal
Robot-Aided Systems for Improving the Assessment of Upper Limb Spasticity: A Systematic Review
Sensors. num. 18, vol. 20, pages: 1 - 16, 2020 R. de la Torre, E. D. Oña, C. Balaguer, A. Jardon |
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Journal
An Accessible Interface for Programming an Assistive Robot
[Online] Journal of Accessibility and Design for All. num. 3, vol. 4, pages: 161 - 176, 2014 J.G. Victores, S. Morante, A. Jardon, C. Balaguer |
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Journal
Diseño y simulación de un actuador de rigidez variable
Anales de Ingeniería Mecánica: Revista de la Asociación Española de Ingeniería Mecánica; ISSN: 0212-5072. num. 18, vol. 1, pages: 154 - 161, 2012 A. Gimenez, López, J., A. Jardon, García, D., C. Balaguer |
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Journal
Personal Autonomy Rehabilitation in Home Environments by a Portable Assistive Robot
[Online] IEEE Transactions on Systems, Man, and Cybernetics.. num. 2, vol. 42, pages: 561 - 570, 2011 A. Jardon, J.G. Victores, S. Martinez, A. Gimenez, C. Balaguer |
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Journal
Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot
Short paper, IEEE Transactions on Robotics. num. 6, vol. 27, pages: 1 132 - 1 137, 2011 M.F. Stoelen, F. Bonsignorio, A. Jardon, C. Balaguer |
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Journal
Usability assessment of ASIBOT: a portable robot to aid patients with spinal cord injury
Disability & Rehabilitation: Assistive Technology. , , pages: 1 - 11, 2010 A. Jardon, A. Gil, C.A. Monje, A. Peña, C. Balaguer |
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Journal
Building industrialization: robotized assembly of modular products
Assembly Automation- Emerald Group Publishing Ltd . num. 2, vol. 28, pages: 134 - 142, 2008 S. Martinez, A. Jardon, C. Balaguer |
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Journal
Metodología de diseño óptimo para la construcción de robots de servicio.
Anales de Ingeniería Mecánica, ESPAÑA.. num. 1, vol. 2, pages: 1 041 - 1 046, 2008 A. Gimenez, Rubio, H. , A. Jardon, García Prada, A., Castejón, C. |
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Journal
The MATS robot: Service Climbing Robot for Personal Assistance
IEEE Robotics & Automation Magazine. num. 1, vol. 13, pages: 51 - 58, 2006 A. Gimenez, A. Jardon, C. Balaguer |
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Journal
Robots applications against gravity
IEEE Robotics & Automation magazine. num. 1, vol. 13, pages: 5 - 6, 2006 C. Balaguer |
Conference Publications
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Conference
Sensorless Friction and Gravity Compensation
[Online]
IEEE RAS International Conference on Humanoid Robots (Humanoids 2014), Tuesday, 18 November, 2014, Madrid, Spain S. Morante, J.G. Victores, S. Martinez, C. Balaguer |
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Conference
Towards Robot Imagination Through Object Feature Inference
[Online]
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)., Tuesday, 5 November, 2013, Tokyo, Japan J.G. Victores, S. Morante, A. Jardon, C. Balaguer |
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Conference
Diseño Preliminar de Interfaces de Realidad Aumentada para el Robot Asistencial ASIBOT
[Online]
V Congreso Internacional de Diseño, Redes de Investigación y Tecnología para todos (DRT4ALL), Wednesday, 25 September, 2013, MADRID, Spain F. Rodriguez, J.G. Victores, A. Jardon, C. Balaguer |
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Conference
Adaptive Collision-Limitation Behavior for an Assistive Manipulator
[Online]
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Monday, 4 November, 2013, Tokyo, Japan M.F. Stoelen, V. Tejada, J.G. Victores, A. Jardon, F. Bonsignorio, C. Balaguer |
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Conference
Benchmarking Shared Control for Assistive Manipulators: From Controllability to the Speed-Accuracy Trade-Off
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Sunday, 7 October, 2012, Vilamoura, Portugal M.F. Stoelen, F. Bonsignorio, A. Jardon, C. Balaguer |
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Conference
Hebb-like Learning for the Grounding of High-Level Symbols in Sensorimotor Trajectories
Conference on Robotics and Development of Cognition, Monday, 10 September, 2012, Lausanne, Switzerland M.F. Stoelen, F. Bonsignorio, C. Balaguer |
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Conference
Online Learning of Sensorimotor Interactions using a Neural Network with Time-Delayed Inputs
IEEE Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), Thursday, 11 October, 2012, San Diego, USA M.F. Stoelen, F. Bonsignorio, C. Balaguer |
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Conference
Methodologies for Experimental Evaluation of Assistive Robotics HRI
[Online]
ROBOCITY2030 9TH WORKSHOP: ROBOTS COLABORATIVOS E INTERACCION HUMANO-ROBOT, Monday, 30 May, 2011, Madrid, Spain M.F. Stoelen, A. Jardon, V. Tejada, J.G. Victores, S. Martinez, F. Bonsignorio, C. Balaguer |
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Conference
SULTAN: Simultaneous User Learning and Task Execution, and its Application in Assistive Robotics
[Online]
Workshop on New and Emerging Technologies in Assistive Robotics at IROS 2011., Monday, 26 September, 2011, San Francisco, United States C. Balaguer, A. Jardon, C.A. Monje, F. Bonsignorio, M.F. Stoelen, S. Martinez, J.G. Victores |
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Conference
Interacción Humano-Robot a través de Interfaces en la Nube
[Online]
Robocity2030 9th Workshop, Monday, 30 May, 2011, Madrid, Spain J.G. Victores, A. Jardon, S. Morante, M.F. Stoelen, S. Martinez, C. Balaguer |
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Conference
Towards an Enabling Multimodal Interface for an Assistive Robot
[Online]
Workshop on Mutimodal Human-Robot Interfaces, IEEE InternationalConference on Robotics and Automation (ICRA), Monday, 3 May, 2010, Anchorage, AK, USA M.F. Stoelen, A. Jardon, F. Bonsignorio, J.G. Victores, C.A. Monje, C. Balaguer |
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Conference
Information Metrics for Assistive Human-In-The-Loop Cognitive Systems
[Online]
Workshop on Good Experimental Methodology in Robotics and Replicable Robotics Research, Robotics Science and Systems (RSS), Monday, 28 June, 2010, Zaragoza, Spain M.F. Stoelen, A. Jardon, J.G. Victores, C. Balaguer, F. Bonsignorio |
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Conference
ASIBOT Assistive Robot with Vision in a Domestic Environment
[Online]
Robocity2030 7th Workshop, Friday, 15 October, 2010, Móstoles, Spain J.G. Victores, M.F. Stoelen, S. Martinez, A. Jardon, C. Balaguer |
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Conference
Dispositivo inalámbrico para facilitar el acceso al ordenador.
Congreso Internacional sobre Domótica, Robótica y Teleasistencia para Todos DRT4LL 2009, Thursday, 1 January, 2009, Barcelona, SPAIN S. Martinez, A. Jardon, C. Balaguer |
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Conference
Metodología de diseño óptimo para la construcción de robots de servicio, Castejón, C. ; Gimenez, A. ; Jardon, A. ; Rubio, H. ; García Prada, J. C.
XVII Congreso Nacional de Ingeniería Mecánica,, Friday, 15 February, 2008, Gijon, España A. Gimenez, A. Jardon |
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Conference
A. I. de la Peña González, A. M. Gil Agudo, Functional Evaluation of ASIBOT, a Portable Robot to Aid Disabled Persons
In Proceedings II International Congress on Domotics, Robotics and Remote‐Assistance for All DRT4all 2007, Saturday, 21 April, 2007, Madrid, SPAIN A. Jardon |
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Conference
Assistive robots dependability in domestic environment: the ASIBOT kitchen test bed
IARP-IEEE/RAS-EURON Joint Workshop on Shared Control for Robotic Ultra-operations, San Diego, California, Oct 28-30, 2007, Sunday, 28 October, 2007, San Diego, CA, EEUU A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
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Conference
Asibot, robot de asistencia a discapacitados y personas mayores
drt4ALL. Congreso Internacional sobre Domótica, Robótica y Teleasistencia, Thursday, 10 November, 2005, Madrid, Spain R. Cabas, R. Correal, A. Gimenez, A. Jardon, C. Balaguer |
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Conference
Human-Robot Coexistence in Robot-Aided Apartment
The 23rd International Symposium on Automation and Robotics in Construction (ISARC 2006), Monday, 30 October, 2006, Tokyo, Japan R. Cabas, R. Correal, A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
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Conference
Live experimentation of the service robot applicationselderly people care in home environments
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Tuesday, 2 August, 2005, Edmonton, Canada R. Cabas, R. Correal, A. Gimenez, A. Jardon, C. Balaguer |
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Conference
Análisis cinemático avanzado de robots de servicio: flexibilidad en los eslabones, selección de actuadores
7º Congreso iberoamericano de ingeniería mecánica, Wednesday, 12 October, 2005, Mexico D.F., Mexico A. Gimenez |
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Conference
An information-theoretic approach to modeling and quantifying assistive robotics HRI
Late Breaking Report, Proceedings of the 6th international conference on Human-robot interaction (HRI), Friday, 25 March, 2011, Lausanne, Switzerland M.F. Stoelen, F. Bonsignorio, A. Jardon, C. Balaguer |
Patents
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Patent
Dispositivo electromecánico portátil de asistencia
. ref: PCT/ES2012070848 . . 2012, A. Jardon |
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Patent
Mecanismo de ajuste de la fuerza de pretensión en sistemas de transmisión correa-polea
. ref: EP09382035.5. . 2009, L.A. Pabon, A. Jardon, C. Balaguer |
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Patent
Pointer device (DISPOSITIVO INDICADOR)
. ref: P2000803615. . 2009, A. Jardon, C. Balaguer, R. Palencia |
Books
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Book
ROBOT2013: First Iberian Robotics Conference, Advances in Robotics, Vol.1, Part III
[Online]
chapter: Assistive Robot Multi-modal Interaction with Augmented 3D Vision and Dialogue, pages: 209 - 217. Springer International Publishing, ISBN: 9783319034126, 2014, Madrid (Spain) J.G. Victores, F. Rodriguez, S. Morante, A. Jardon, C. Balaguer |
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Book
Grasping in Robotics
chapter: A survey on different control techniques for grasping, pages: 223 - 246. SPRINGER NETHERLANDS EDITORIAL, ISBN: 978-3-540-71363, 2013, R. Cabas, A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
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Book
Robots personales y asistenciales
chapter: ASIBOT: robot portátil de asistencia a discapacitados. Concepto, arquitectura de control y evaluación clínica, pages: 127 - 144. Universidad Carlos III de Madrid, ISBN: 978-84-691-3824, 2008, R. Pacheco, R. Correal, A. Gimenez, S. Martinez, A. Jardon, R. Barber, C. Balaguer, M.A. Salichs |
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Book
M. Ferre, M. Buss, C. Melchiorri. Advances in Telerobotics
chapter: Introduction to Advances in Telerobotics, pages: 1 - 10. Springer Tracts in Advanced Robotics (STAR), vol. 31, ISBN: 978-3-540-71363, 2007, C. Balaguer |
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Book
M. Ferre, M. Buss, C. Melchiorri (Editors). Advances in Telerobotics
, pages: 1 - 500. Springer Tracts in Advanced Robotics (STAR), vol. 31, ISBN: 978-3-540-71363, 2007, C. Balaguer |
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Book
ADVANCES IN TELEROBOTICS
chapter: Proprio & Teleoperation of a robotic system for disabled people assistance in domestic environments
[online]
, pages: 325 - 338. Springer Tracts in Advanced Robotics (STAR), vol. 31
SPRINGER NETHERLANDS EDITORIAL, ISBN: 978-3-540-71363, 2007, R. Correal, A. Gimenez, S. Martinez, A. Jardon, C. Balaguer |
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Book
CLIMBING AND WALKING ROBOTS
chapter: A PORTABLE LIGHT-WEIGHT CLIMBING ROBOT FOR PERSONAL ASSISTANCE APPLICATIONS , pages: 961 - 968. CLAWAR 05, ISBN: 978-3-540-26413, 2006, A. Gimenez, A. Jardon |
Doctoral Thesis
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Thesis
Robot Imagination System
[Online]
Universidad Carlos III de Madrid, 2014 J.G. Victores |
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Thesis
Augmenting User Capabilities Through An Adaptive Assistive Manipulator
Universidad Carlos III de Madrid, 2014 |