A Shared Autonomous Nursing Robot Assistant with Dynamic Workspace for Versatile Mobile Manipulation
The growing demand on nursing staff due to pandemics, an aging population, and workforce shortages calls for assistive robotic solutions that can reduce workload and enable remote care. This work introduces Intelligent rObotic Nursing Assistant (IONA), a shared-autonomy robot designed for versatile mobile manipulation in semi-structured and unstructured environments.
IONA features a compact, wireless, and modular design, with a motorized torso, bimanual arms, and integrated navigation, improving reachability and dexterity in cluttered spaces. In contrast to existing bulky or fully autonomous systems, IONA supports both autonomy and intuitive human control.
At the core of the system is a novel teleoperation interface tailored for non-expert users like nurses. It enables safe, responsive control through adaptable coordination modes and assists users in learning the system quickly and effectively.
This presentation will highlight IONA’s hardware, control framework, and ongoing user studies, aiming to support sustainable, scalable, and human-centered healthcare.
Advisor: Professor Zhi (Jane) Li
Committee: Professor Berk Calli and Professor Cagdas Onal
Zoom link: https://wpi.zoom.us/j/96374426457