The research objective of this project is to design, develop, and evaluate a Cyber-Physical System called the WheelArm that integrates and supports (i) multi-modal user intent identification and adaptive planning (ii) autonomous and safe task execution for both the wheelchair and the arm, and (iii) an edge computing architecture that enables real-time processing of sensory inputs to enhance system’s responsiveness and reliability.
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- A Unified Multitask Cross-Modal Representation Learning Method for Visual, Tactile, and Linguistic Grasping, Information Fusion, 2026
- A Multimodal Data Collection Framework for Dialogue-Driven Assistive Robotics to Clarify Ambiguities: A Wizard-of-Oz Pilot Study, BioRob 2026
- Paper’s Repository (Code & Implementation): https://madibabaiasl.github.io/WheelArmWoZDataset/, 2026
- Paper’s Website: https://madibabaiasl.github.io/WheelArmWoZDataset/, 2026
- WheelArm-Sim: A Manipulation and Navigation Combined Multimodal Synthetic Data Generation Simulator for Unified Control in Assistive Robotics, ISMR 2026
- Paper’s Repository (Code & Implementation): https://github.com/madibabaiasl/WheelArmSimISMR2026, 2026
- Dialogue-Based Human-Robot Interaction Protocol for Wheelchair and Robotic Arm Integrated Control, 2026
