Abstract: In this talk, I will describe the work done in the context of the Japanese Science and Technology (JST) Moonshot projects that we have been involved in since the past year.
The first project focuses on whole body motion synthesis and adaptive replanning -- with an emphasis on extracting underlying latent characteristics that affect task execution and addressing long horizon hierarchical planning in this context. Test bed include the humanoid AIREC platform for whole body loco-manipulation as well as for 'okiagari' hospital bed assistance with multi-contact interactions.
The second project focuses on early detection and intervention in triadic collaborative settings for neuro-degenerative diseases like MS. Working in collaboration with the Anne Rowling clinic and Cajal Institute in Spain, we have been looking at how to provide the optimal level of personalised assistance while monitoring disease progression through portable sensing of gait parameters and FES and exo-skeleton actuation.