{"id":"https://openalex.org/W7138973273","doi":"https://doi.org/10.48550/arxiv.2603.16772","title":"Beyond Cybathlon: On-demand Quadrupedal Assistance for People with Limited Mobility","display_name":"Beyond Cybathlon: On-demand Quadrupedal Assistance for People with Limited Mobility","publication_year":2026,"publication_date":"2026-03-17","ids":{"openalex":"https://openalex.org/W7138973273","doi":"https://doi.org/10.48550/arxiv.2603.16772"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.16772","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16772","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.16772","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130019194","display_name":"Carmen Scheidemann","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Scheidemann, Carmen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048141350","display_name":"Andrei Cramariuc","orcid":"https://orcid.org/0000-0002-9301-0253"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cramariuc, Andrei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123906461","display_name":"Changan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Changan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109578952","display_name":"Jia-Ruei Chiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chiu, Jia-Ruei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130048805","display_name":"Marco Hutter","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hutter, Marco","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5130019194"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.6252999901771545,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.6252999901771545,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.24089999496936798,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.017100000753998756,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.7190999984741211},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.6437000036239624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5770000219345093},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5328999757766724},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48989999294281006},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.45320001244544983},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.44279998540878296},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.41929998993873596},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.35019999742507935},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.34450000524520874}],"concepts":[{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.7190999984741211},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.6437000036239624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5770000219345093},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5486999750137329},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5328999757766724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5205000042915344},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48989999294281006},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.45320001244544983},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.44279998540878296},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4244999885559082},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3625999987125397},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.35019999742507935},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3312999904155731},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3294999897480011},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.31060001254081726},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2994999885559082},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2924000024795532},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2906999886035919},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2888000011444092},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.28630000352859497},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.2831000089645386},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C35651441","wikidata":"https://www.wikidata.org/wiki/Q625303","display_name":"Independence (probability theory)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2572000026702881},{"id":"https://openalex.org/C92991967","wikidata":"https://www.wikidata.org/wiki/Q7644329","display_name":"Supervisory control","level":3,"score":0.25690001249313354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2540000081062317},{"id":"https://openalex.org/C183003079","wikidata":"https://www.wikidata.org/wiki/Q1000371","display_name":"Personalization","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.16772","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16772","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.16772","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16772","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Background:":[0],"Assistance":[1,143],"robots":[2],"have":[3],"the":[4,8,37,71,75,80,104,127,140,186,193,205,244],"potential":[5,206],"to":[6,17,29,70,125,207,220,232],"increase":[7],"independence":[9,213],"of":[10,25,39,74,168,174,243],"people":[11,209],"who":[12],"need":[13],"daily":[14],"care":[15],"due":[16],"limited":[18,33],"mobility":[19,35,124],"or":[20],"being":[21],"wheelchair-bound.":[22],"Current":[23],"solutions":[24],"attaching":[26],"robotic":[27],"arms":[28],"motorized":[30],"wheelchairs":[31,211],"offer":[32],"additional":[34],"at":[36],"cost":[38],"increased":[40,189],"size":[41],"and":[42,84,146,160,246],"reduced":[43,123],"wheelchair":[44],"maneuverability.":[45],"Methods:":[46],"We":[47,94,135,163,198,228],"present":[48,113,199],"an":[49,120,150],"on-demand":[50],"quadrupedal":[51],"assistance":[52],"robot":[53,101,190],"system":[54,76,138,166,202],"controlled":[55],"via":[56],"a":[57,114,171,200],"shared":[58],"autonomy":[59,191,242],"approach,":[60],"which":[61],"combines":[62],"semi-autonomous":[63],"task":[64,157],"execution":[65],"with":[66,106,122],"human":[67],"teleoperation.":[68],"Due":[69],"mobile":[72,222],"nature":[73],"it":[77,148],"can":[78],"assist":[79],"operator":[81,121,245],"whenever":[82],"needed":[83],"perform":[85],"autonomous":[86],"tasks":[87],"independently,":[88],"without":[89,225],"otherwise":[90],"restricting":[91],"their":[92],"mobility.":[93],"automate":[95],"pick-and-place":[96],"tasks,":[97,175],"as":[98,100],"well":[99],"movement":[102],"through":[103],"environment":[105],"semantic,":[107],"collision-aware":[108],"navigation.":[109],"For":[110],"teleoperation,":[111],"we":[112,155],"mouth-level":[115],"joystick":[116],"interface":[117],"that":[118,178,188,203],"enables":[119],"control":[126],"robot's":[128],"end":[129],"effector":[130],"for":[131,240,249],"precision":[132],"manipulation.":[133,181,250],"Results:":[134],"showcase":[136],"our":[137,165],"in":[139,149,170,210,214],"\\textit{Cybathlon":[141],"2024":[142],"Robot":[144],"Race},":[145],"validate":[147],"at-home":[151],"experimental":[152],"setup,":[153],"where":[154],"measure":[156],"completion":[158],"times":[159],"user":[161,183],"satisfaction.":[162],"find":[164],"capable":[167],"assisting":[169],"broad":[172],"variety":[173],"including":[176],"those":[177],"require":[179],"dexterous":[180],"The":[182],"study":[184],"confirms":[185],"intuition":[187],"alleviates":[192],"operator's":[194],"mental":[195],"load.":[196],"Conclusions:":[197],"flexible":[201],"has":[204],"help":[208],"maintain":[212],"everyday":[215],"life":[216],"by":[217],"enabling":[218],"them":[219],"solve":[221],"manipulation":[223],"problems":[224],"external":[226],"support.":[227],"achieve":[229],"results":[230],"comparable":[231],"previous":[233],"state-of-the-art":[234],"on":[235],"subjective":[236],"metrics":[237],"while":[238],"allowing":[239],"more":[241],"greater":[247],"agility":[248]},"counts_by_year":[],"updated_date":"2026-03-20T20:54:20.808490","created_date":"2026-03-20T00:00:00"}