38 citations · 66 across the 14 of their papers we have counts for
15 papers
Control Without Control: Defining Implicit Interaction Paradigms for Autonomous Assistive Robots
Janavi Gupta, Kavya Puthuveetil, Dimitra Tsakona +3
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks,…
WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
Akhil Padmanabha, Jessie Yuan, Tanisha Mehta +10
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairmen…
In-Vivo Skin 3-D Surface Reconstruction and Wrinkle Depth Estimation using Handheld High Resolution Tactile Sensing
Akhil Padmanabha, Arpit Agarwal, Catherine Li +10
Three-dimensional (3-D) skin surface reconstruction offers promise for objective and quantitative dermatological assessment, but no portable, high-resolution device exists that has…
EgoCHARM: Resource-Efficient Hierarchical Activity Recognition using an Egocentric IMU Sensor
Akhil Padmanabha, Saravanan Govindarajan, Hwanmun Kim +4
Human activity recognition (HAR) on smartglasses has various use cases, including health/fitness tracking and input for context-aware AI assistants. However, current approaches for…
Towards Wearable Interfaces for Robotic Caregiving
Akhil Padmanabha, Carmel Majidi, Zackory Erickson
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household ta…
Towards an LLM-Based Speech Interface for Robot-Assisted Feeding
Jessie Yuan, Janavi Gupta, Akhil Padmanabha +4
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who…
RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing
Yexin Hu, Alexandra Gillespie, Akhil Padmanabha +4
Liquids and granular media are pervasive throughout human environments, yet remain particularly challenging for robots to sense and manipulate precisely. In this work, we present a…
SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bed Bathing Assistance
Fukang Liu, Kavya Puthuveetil, Akhil Padmanabha +3
Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle car…
VoicePilot: Harnessing LLMs as Speech Interfaces for Physically Assistive Robots
Akhil Padmanabha, Jessie Yuan, Janavi Gupta +4
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who…
Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator
Akhil Padmanabha, Janavi Gupta, Chen Chen +5
Teleoperation of mobile manipulators within a home environment can significantly enhance the independence of individuals with severe motor impairments, allowing them to regain the…
A Multimodal Sensing Ring for Quantification of Scratch Intensity
Akhil Padmanabha, Sonal Choudhary, Carmel Majidi +1
An objective measurement of chronic itch is necessary for improvements in patient care for numerous medical conditions. While wearables have shown promise for scratch detection, th…
SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing
Nathaniel Hanson, Wesley Lewis, Kavya Puthuveetil +4
Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of differ…
HAT: Head-Worn Assistive Teleoperation of Mobile Manipulators
Akhil Padmanabha, Qin Wang, Daphne Han +6
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the…
Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems
Andrew R. Barkan, Akhil Padmanabha, Sala R. Tiemann +4
Advancements in the domain of physical human-robot interaction (pHRI) have tremendously improved the ability of humans and robots to communicate, collaborate, and coexist. In parti…
OmniTact: A Multi-Directional High Resolution Touch Sensor
Akhil Padmanabha, Frederik Ebert, Stephen Tian +3
Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or…