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Formal Specifications for Assistive Robotics

Brenna ArgallPI: Brenna Argall

Associate Professor of Computer Science, Mechanical Engineering, and Physical Medicine and Rehabilitation
Northwestern University


casmi-framework-interaction-icon.pngFramework component: Interaction

Some people with disabilities rely on eye gaze tracking systems used to control powered wheelchairs. However, these assistive robots are typically created by experts in robotics. This “one size fits all” manner does not enable people in need of assistance, their therapists, or their caregivers to influence and customize the robot or device to their needs. Furthermore, the current practice cannot guarantee safety in the interaction because there are currently no verification or synthesis methods that can be used when designing the interaction.

This project's vision is to create, in a user-centered design methodology, formalisms and tools that would (1) enable domain experts, not robotics experts, to define and shape the desired human-machine intelligent interaction, and (2) create the machine intelligence that will adapt to the needs of the person across different time scales and abilities, while maintaining the safety of the interaction, as defined by all the stakeholders.

Key Personnel

Hadas Kress-GazitHadas Kress-Gazit
Senior Endowed Professor, Sibley School of Mechanical and Aerospace Engineering 
Cornell University


Guy HoffmanGuy Hoffman
Associate Professor, Sibley School of Mechanical and Aerospace Engineering 
Cornell University


Larisa LokeLarisa Loke
Graduate Student, Mechanical Engineering
Northwestern University


Todd MurpheyTodd Murphey
Professor of Mechanical Engineering
Northwestern University


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