In this paper, we present an approach for a robot to provide personalized assistance for dressing a user. In particular, given a dressing task, our approach finds a solution involving manipulator motions and also user repositioning requests. Specifically, the solution allows the robot and user to take turns moving in the same space and is cognizant of the user’s limitations. To accomplish this, a vision module monitors the human’s motion, determines if he is following the repositioning requests, and infers mobility limitations when he cannot. The learned constraints are used during future dressing episodes to personalize the repositioning requests. Our contributions include a turn-taking approach to human-robot coordination for the dressing problem and a vision module capable of learning user limitations. After presenting the technical details of our approach, we provide an evaluation with a Baxter manipulator.

In 2019, a new virus, SARS-CoV-2, responsible for the COVID-19 disease, was discovered. Asymptomatic and mildly symptomatic patients were forced to quarantine and closely monitor their symptoms and vital signs, most of the time at home. This paper describes e-CoVig, a novel mHealth application, developed as an alternative to the current monitoring paradigm, where the patients are followed up by direct phone contact. The e-CoVig provides a set of functionalities for remote reporting of symptoms, vital signs, and other clinical information to the health services taking care of these patients. The application is designed to register and transmit the heart rate, blood oxygen saturation (${\mathrm{SpO}}_2$), body temperature, respiration, and cough. The system features a mobile application, a web/cloud platform, and a low-cost specific device to acquire the temperature and ${\mathrm{SpO}}_2$. The architecture of the system is flexible and can be configured for different operation conditions. Current commercial devices, such as oximeters and thermometers, can also be used and read using the optical character recognition (OCR) functionality of the system. The data acquired at the mobile application are sent automatically to the web/cloud application and made available in real-time to the medical staff, enabling the follow-up of several users simultaneously without the need for time consuming phone call interactions. The system was already tested for its feasibility and a preliminary deployment was performed on a nursing home showing promising results.