IEEE Robotics & Automation Magazine - March 2013 - 39

We are committed to creating a system that will generalize
to other people with severe motor impairments and to the
able-bodied users as well. The use of a general-purpose robot,
the PR2, will allow users to explore a wide range of tasks.
Using 2-D cursor-based interfaces provides accessibility for
most users. In addition, the capabilities developed for the
tasks explored to date generalize to the larger task spaces of
manipulation close to the body (representing many ADLs),
manipulation of the environment (representing many
IADLs), and social interaction (representing many EADLs).
Our future challenges include enabling Henry and Jane
to use a PR2 in their home for longer durations and evaluating our methods with other people with motor impairments. We are excited to address these challenges with the
help of Henry and Jane Evans.
Videos and code associated with the project can be found
at http://www.willowgarage.com/robotsforhumanity.
References
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[15] C. Smarr, C. B. Fausset, and W. A. Rogers, "Understanding the potential
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Tiffany L. Chen, Georgia Institute of Technology, Atlanta,
Georgia. E-mail: tiffany.chen@gatech.edu.
Matei Ciocarlie, Willow Garage, Inc., Menlo Park, California.
E-mail: matei@willowgarage.com.
Steve Cousins, Willow Garage, Inc., Menlo Park, California.
E-mail: cousins@willowgarage.com.
Phillip M. Grice, Georgia Institute of Technology, Atlanta,
Georgia. E-mail: phillip.grice@gatech.edu.
Kelsey Hawkins, Georgia Institute of Technology, Atlanta,
Georgia. E-mail: kphawkins@gatech.edu.
Kaijen Hsiao, Willow Garage, Inc., Menlo Park, California.
E-mail: hsiao@willowgarage.com.
Charles C. Kemp, Georgia Institute of Technology, Atlanta,
Georgia. E-mail: charlie.kemp@bme.gatech.edu.
Chih-Hung King, Georgia Institute of Technology, Atlanta,
Georgia. E-mail: aaking@hsi.gatech.edu.
Daniel A. Lazewatsky, Oregon State University, Corvallis,
Oregon. E-mail: lazewatd@engr.orst.edu.
Adam E. Leeper, Stanford University, Stanford, California.
E-mail: aleeper@stanfored.edu.
Hai Nguyen, Georgia Institute of Technology, Atlanta, Georgia.
E-mail: hai@gatech.edu.
Andreas Paepcke, Willow Garage, Inc., Menlo Park, California.
E-mail: paepcke@willowgarage.com.
Caroline Pantofaru, Willow Garage, Inc., Menlo Park,
California. E-mail: pantofaru@willowgarage.com.
William D. Smart, Oregon State University, Corvallis, Oregon.
E-mail: bill.smart@oregonstate.edu.
Leila Takayama, Willow Garage, Inc., Menlo Park, California.
E-mail: takayama@willowgarage.com.

March 2013

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http://www.willowgarage.com/robotsforhumanity http://www.alsa.org/als-care/augmentative-communication
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2013
