TY  - JOUR
PY  - 2021//
TI  - Introducing GARMI - a service robotics platform to support the elderly at home: design philosophy, system overview and first results
JO  - EEE robotics and automation letters
A1  - Tröbinger, Mario
A1  - Jähne, Christoph
A1  - Qu, Zheng
A1  - Elsner, Jean
A1  - Reindl, Anton
A1  - Getz, Sebastian
A1  - Goll, Thore
A1  - Loinger, Benjamin
A1  - Loibl, Tamara
A1  - Kugler, Christoph
A1  - Calafell, Carles
A1  - Sabaghian, Mohamadreza
A1  - Ende, Tobias
A1  - Wahrmann, Daniel
A1  - Parusel, Sven
A1  - Haddadin, Simon
A1  - Haddadin, Sami
SP  - 5857
EP  - 5864
VL  - 6
IS  - 3
N2  - This letter introduces GARMI, a service robotics platform conceptualized with a focus on assisting elderly at home. GARMI is designed to provide support with household tasks, as an avatar for tactile-enabled communication and as an interface for telemedicine and emergency assistance. Its unique humanoid design features a sensor-equipped multi-modal head designed for natural human-machine communication as well as a whole-body torque-control interface for safe physical human-machine interaction. GARMI's modular software architecture and distinctive whole-body control scheme allows multimodal dynamic coupling. Additionally, every system component can actively produce as well as sense forces and can thus serve as a haptic feedback interface when interacting with its environment and users. Furthermore, GARMI is the first mobile humanoid designed with specialized use-inspired avatar stations: PARTI for dual-arm-based exoskeleton-like remote-control with force-feedback and MUCKI for transparent remote doctor-patient interaction with both audiovisual and safe haptic feedback. The specialized software architecture allows for rapid prototyping and field-testing of new behaviors for telemedicine, multi-modal interaction and autonomous physical and service assistance. Our first results reveal the potential of our use-driven force-based whole-body control mobile humanoid for daily living and telemedicine scenarios in an elderly care research facility.<p />  <p>Language: en</p>
LA  - en
SN  - 2377-3766
UR  - http://dx.doi.org/10.1109/LRA.2021.3082012
ID  - ref1
ER  -