i-Walk

iWalk: Intelligent Robotic Walker for mobility and cognitive assistance of elderly and motor-impaired people

Official Website: http://www.i-walk.gr/

logos

About the Project

The i-Walk project aims at developing and testing a new pioneering robotic system that will provide a range of mobility and cognitive support functions for people that face different degrees of mobility and cognitive problems.

iWalk with equipment

In this project, the following methodologies will be developed and synergistically utilized: (a) processing of multi-sensory and physiological signals and identification of actions for the monitoring, analysis and prediction of human gait and other actions of the user, (b) behavioral and user-adaptive robot control and autonomous robot navigation for the dynamic approach of the user and the interactive co-occurrence combined also with voice guidance; (c) human-robot communication, including speech synthesis and recognition technologies and a virtual assistant (avatar) to enhance the naturalness of communication

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  • WP1: User needs and clinical evaluation
    • T1.1: User needs
    • T1.2: Data collection and annotation
    • T1.3: Clinical evaluation
  • WP2. Processing and Recognition of MultiSensory Signals 
    • T2.1: Gait tracking and analysis using laser sensors
    • T2.2: Visual Sensing, Human Tracking, and Action Recognition
    • T2.3: Voice Command Recognition
    • T2.4: Smart sensors for tracking and processing of physiological signals
  • WP3. Control and motion planning of robotic platform
    • T3.1: Control of autonomous motion of robotic platform
    • T3.2: Robotic navigation
    • T3.3: Human robot interaction control and user mobility assistance functionality
  • WP4 Human-Machine Interaction
    • T4.1: Human-Machine Interaction Design
    • T4.2: Dialog management
    • T4.3: Interaction via voice
  • WP5. Robotic Platform Design and Implementation of Integrated System
    • T5.1: Needs analysis and design of robotic platform parameters
    • T5.2: Design and implementation of platform hardware
    • T5.3: Design and implementation of platform software
  • WP6: Commercial exploitation of results
– Prof. Petros Maragos (PI, Director of IRAL and Head of CVSP Group at NTUA)
– Dr. George Retsinas (Post-Doctoral Researcher at the IRAL & CVSP Group at NTUA )
– Dr. Ioannis Kordonis (Post-Doctoral Researcher at the  IRAL & CVSP  Group at NTUA)
– Vasileios Charisopoulos (PhD student in the Dept. of Operations Research & Information Engineering at Cornell University)
– Georgios Smyrnis (PhD student in the Electrical & Computer Engineering Dept. at the University of Texas at Austin
– Emmanouil Theodosis (PhD student in Computer Science, School of Engineering & Applied Sciences atHarvard University)
– Despina Kassianidi (Technician at the IRAL & CVSP Group at NTUA )

2020

Papageorgiou, X S; Tsampounaris, G; Karavasili, A; Efthimiou, E; Fotinea, S-E; Vacalopoulou, A; Karioris, P; Koureta, F; Alexopoulou, D; Dimou, D

User-centered Implementation of Rehabilitation Exercising on an Assistive Robotic Platform Conference

22nd International Conference on Human-Computer Interaction, Copenhagen, Denmark, 2020.

Tsiami, A; Koutras, P; Maragos, P

STAViS: Spatio-Temporal AudioVisual Saliency Network Conference

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, USA, 2020.

| Links: [PDF]

2019

Chalvatzaki, Georgia; Papageorgiou, Xanthi S; Maragos, Petros; Tzafestas, Costas S

Learn to adapt to human walking: A Model-based Reinforcement Learning Approach for a Robotic Assistant Rollator Journal Article

IEEE Robotics and Automation Letters (with IROS option), 4 (4), pp. 3774–3781, 2019.

| Links: [PDF]

Chalvatzaki, Georgia; Papageorgiou, Xanthi S; Maragos, Petros; Tzafestas, Costas S

Comparing the Impact of Robotic Rollator Control Schemes on Elderly Gait using on-line LRF-based Gait Analysis Conference

Proc. Workshop on Mobile Robot Assistants for the Elderly (MoRobAE) in 2019 IEEE Int’l Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.

| Links: [PDF]

Chalvatzaki, Georgia; Koutras, Petros; Hadfield, Jack; Papageorgiou, Xanthi S; Tzafestas, Costas S; Maragos, Petros

On-line Human Gait Stability Prediction using LSTMs for the fusion of Deep-based Pose Estimation and LRF-based Augmented Gait State Estimation in an Intelligent Robotic Rollator Conference

IEEE International Conference on Robotics & Automation (ICRA), Montreal, Canada, 2019.

Efthimiou, E; Papageorgiou, X; Fotinea, S-E; Karavasili, A; Vacalopoulou, A; Goulas, T

User Centered Design in Practice – Adapting HRI to Real User Needs Conference

Proc. PETRA 2019, Island of Rhodes, Greece, 2019.

Papageorgiou, Xanthi S; Chalvatzaki, Georgia; Efthimiou, Eleni; Fotinea, Stavroula-Evita; Karavasili, Alexandra; Tzafestas, Costas S; Maragos, Petros; Vacalopoulou, Anna; Goulas, Theodore

User Centered HRI Design for an Intelligent Robotic Rollator Conference

Proc. Workshop on Mobile Robot Assistants for the Elderly (MoRobAE) in 2019 IEEE Int’l Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.

| Links: [PDF]

Tsiami, Antigoni; Koutras, Petros; Katsamanis, Athanasios; Vatakis, Argiro; Maragos, Petros

A behaviorally inspired fusion approach for computational audiovisual saliency modeling Journal Article

Signal Processing: Image Communication, 76 , pp. 186 - 200, 2019.

Abstract | Links: [PDF]

Koutras, Petros; Maragos, Petros

SUSiNet: See, Understand and Summarize it Conference

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019.

| Links: [PDF]

Presentation of achieved results at conferences and workshops

  1. 20-24 May 2019: ICCS and ILSP/Athena RC participated in ICRA 2019 and ICRA 2019 Workshop and presented i-Walk results.
  2. 5-7 June 2019: ILSP/Athena RC and DIAPLASIS participated in PETRA 2019 and presented i-Walk results.
  3. 16-20 June 2019: ICCS participated in CVPR 2019 and presented i-Walk results.
  4. 22-25 September 2019: ICCS participated in ICIP 2019 and presented i-Walk results (demo).
  5. 4-8 November 2019: ICCS participated in IROS 2019 and presented i-Walk results.
  6. 14-19 June 2020: ICCS participated in CVPR 2020 and presented i-Walk results.
  7. 19-24 July 2020: ILSP/Athena RC participated in HCI 2020 and presented i-Walk results.

Latest news

ICCS presented i-Walk results in IROS2019, Nov. 2019, Macau, China!

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Project Details

The research project is supported by the Hellenic Foundation for Research and Innovation (H.F.R.I.) under the “2nd Call for H.F.R.I. Research Projects to support Faculty Members & Researchers” (Project Number:2656).
2024-04-01T15:39:36+00:00