Adaptive DoF-Control Interaction Methods for Assistive Robot Arms
  • View Times: 43
  • |
  • Release Date: 2022-03-25
  • assistive robotics
  • human-robot interaction
  • augmented reality
  • virtual reality
  • visual cues
  • shared user control
Video Introduction

This video is adapted from 10.3390/technologies10010030

Robot arms are one of many assistive technologies used by people with motor impairments.Assistive robot arms can allow people to perform activities of daily living (ADL) involving graspingand manipulating objects in their environment without the assistance of caregivers. Suitable inputdevices (e.g., joysticks) mostly have two Degrees of Freedom (DoF), while most assistive robot armshave six or more. This results in time-consuming and cognitively demanding mode switches tochange the mapping of DoFs to control the robot. One option to decrease the difficulty of controllinga high-DoF assistive robot arm using a low-DoF input device is to assign different combinations ofmovement-DoFs to the device’s input DoFs depending on the current situation (adaptive control). Toexplore this method of control, researchers designed two adaptive control methods for a realistic virtual 3Denvironment. The researchers evaluated the methods against a commonly used non-adaptive control method thatrequires the user to switch controls manually. This was conducted in a simulated remote study thatused Virtual Reality and involved 39 non-disabled participants. The results show that the numberof mode switches necessary to complete a simple pick-and-place task decreases significantly whenusing an adaptive control type. In contrast, the task completion time and workload stay the same. Athematic analysis of qualitative feedback of participants suggests that a longer period of trainingcould further improve the performance of adaptive control methods.

References
  1. Andrea Bauer; Dirk Wollherr; Martin Buss; Human—Robot Collaboration: A Survey. International Journal of Humanoid Robotics 2008, 5, 47-66, 10.1142/s0219843608001303.
  2. Terrence Fong; Illah Nourbakhsh; Kerstin Dautenhahn; A survey of socially interactive robots. Robotics and Autonomous Systems 2003, 42, 143-166, 10.1016/s0921-8890(02)00372-x.
  3. Statistisches Bundesamt (Destatis) . Pflegestatistik—Pflege im Rahmen der Pflegeversicherung—Deutschlandergebnisse—2019. Retrieved 2022-3-25
  4. Max Pascher; Annalies Baumeister; Stefan Schneegass; Barbara Klein; Jens Gerken; Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study. Lecture Notes in Computer Science 2021, 1, 331-351, 10.1007/978-3-030-85623-6_21.
  5. Laura V. Herlant; Rachel M. Holladay; Siddhartha S. Srinivasa; Assistive teleoperation of robot arms via automatic time-optimal mode switching. 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) 2016, 1, 35-42, 10.1109/hri.2016.7451731.
  6. Felix Ferdinand Ferdinand Goldau; Udo Frese; Learning to Map Degrees of Freedom for Assistive User Control. The 14th PErvasive Technologies Related to Assistive Environments Conference 2021, 1, 132-139, 10.1145/3453892.3453895.
  7. Axel Graser; Torsten Heyer; Leila Fotoohi; Uwe Lange; Henning Kampe; Bashar Enjarini; Stefan Heyer; Christos Fragkopoulos; Danijela Ristic-Durrant; A Supportive FRIEND at Work: Robotic Workplace Assistance for the Disabled. IEEE Robotics & Automation Magazine 2013, 20, 148-159, 10.1109/mra.2013.2275695.
  8. Gabriele Foresi; Alessandro Freddi; Andrea Monteriu; Davide Ortenzi; Daniele Proietti Pagnotta; Improving mobility and autonomy of disabled users via cooperation of assistive robots. 2018 IEEE International Conference on Consumer Electronics (ICCE) 2018, 2018, 1-2, 10.1109/icce.2018.8326291.
  9. Katherine M. Tsui; Dae-Jin Kim; Aman Behal; David Kontak; Holly A. Yanco; I want that: Human-in-the-loop control of a wheelchair-mounted robotic arm. Applied Bionics and Biomechanics 2011, 8, 127-147, 10.3233/ABB-2011-0004.
  10. Felix Ferdinand Goldau; Tejas Kumar Shastha; Maria Kyrarini; Axel Graser; Autonomous Multi-Sensory Robotic Assistant for a Drinking Task. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) 2019, 2019, 210-216, 10.1109/icorr.2019.8779521.
  11. Kanya Tanaka; Shenglin Mu; Shota Nakashima; Meal-Assistance Robot Using Ultrasonic Motor with Eye Interface. International Journal of Automation Technology 2014, 8, 186-192, 10.20965/ijat.2014.p0186.
  12. Derek McColl; Wing-Yue Louie; Goldie Nejat; Brian 2.1: A socially assistive robot for the elderly and cognitively impaired. IEEE Robotics & Automation Magazine 2013, 20, 74-83, 10.1109/mra.2012.2229939.
  13. João Guerreiro; Daisuke Sato; Saki Asakawa; Huixu Dong; Kris M. Kitani; Chieko Asakawa; CaBot: Designing and Evaluating an Autonomous Navigation Robot for Blind People. The 21st International ACM SIGACCESS Conference on Computers and Accessibility 2019, 2019, 68-82, 10.1145/3308561.3353771.
  14. Veronique Maheu; Julie Frappier; Philippe S. Archambault; François Routhier; Evaluation of the JACO robotic arm: Clinico-economic study for powered wheelchair users with upper-extremity disabilities. 2011 IEEE International Conference on Rehabilitation Robotics 2011, 2011, 1-5, 10.1109/icorr.2011.5975397.
  15. Kunimatsu Hashimoto; Fuminori Saito; Takashi Yamamoto; Koichi Ikeda; A field study of the human support robot in the home environment. 2013 IEEE Workshop on Advanced Robotics and its Social Impacts 2013, 2013, 143-150, 10.1109/arso.2013.6705520.
  16. Charles Fattal; Violaine Leynaert; Isabelle Laffont; Axelle Baillet; Michel Enjalbert; Christophe Leroux; SAM, an Assistive Robotic Device Dedicated to Helping Persons with Quadriplegia: Usability Study. International Journal of Social Robotics 2018, 11, 89-103, 10.1007/s12369-018-0482-7.
  17. Maria Kyrarini; Fotios Lygerakis; Akilesh Rajavenkatanarayanan; Christos Sevastopoulos; Harish Nambiappan; Kodur Chaitanya; Ashwin Babu; Joanne Mathew; Fillia Makedon; A Survey of Robots in Healthcare. Technologies 2021, 9, 8, 10.3390/technologies9010008.
  18. Gerard Canal; Guillem Alenyà; Carme Torras; Personalization Framework for Adaptive Robotic Feeding Assistance. Swarm, Evolutionary, and Memetic Computing 2016, 2016, 22-31, 10.1007/978-3-319-47437-3_3.
  19. Sandra Drolshagen; Max Pfingsthorn; Pascal Gliesche; Andreas Hein; Acceptance of Industrial Collaborative Robots by People With Disabilities in Sheltered Workshops. Frontiers in Robotics and AI 2021, 7, 541741, 10.3389/frobt.2020.541741.
  20. Max Pascher; Annalies Baumeister; Barbara Klein; Stefan Schneegass; Jens Gerken; Little Helper: A Multi-Robot System in Home Health Care Environments. Proceedings of the 2019 International Workshop on Human-Drone Interaction (iHDI) as Part of the ACM Conference on Human Factors in Computing Systems 2019, 2019, 1, .
  21. Anita Pollak; Mateusz Paliga; Matías M Pulópulos; Barbara Kozusznik; Malgorzata W. Kozusznik; Stress in manual and autonomous modes of collaboration with a cobot. Computers in Human Behavior 2020, 112, 106469, 10.1016/j.chb.2020.106469.
  22. Dae-Jin Kim; Rebekah Hazlett-Knudsen; Heather Culver-Godfrey; Greta Rucks; Tara Cunningham; David Portee; John Bricout; Zhao Wang; Aman Behal; How Autonomy Impacts Performance and Satisfaction: Results From a Study With Spinal Cord Injured Subjects Using an Assistive Robot. IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 2011, 42, 2-14, 10.1109/tsmca.2011.2159589.
  23. Andre Cleaver; Darren Vincent Tang; Victoria Chen; Elaine Schaertl Short; Jivko Sinapov; Dynamic Path Visualization for Human-Robot Collaboration. Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction 2021, 2021, 339-343, 10.1145/3434074.3447188.
  24. Michael Walker; Hooman Hedayati; Jennifer Lee; Daniel Szafir; Communicating Robot Motion Intent with Augmented Reality. Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction 2018, 2018, 316-324, 10.1145/3171221.3171253.
  25. Moondeep C. Shrestha; Ayano Kobayashi; Tomoya Onishi; Erika Uno; Hayato Yanagawa; Yuta Yokoyama; Mitsuhiro Kamezaki; Alexander Schmitz; Shigeki Sugano; Intent communication in navigation through the use of light and screen indicators. 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) 2016, 2016, 523-524, 10.1109/hri.2016.7451837.
  26. Ivan Shindev; Yu Sun; Michael Coovert; Jenny Pavlova; Tiffany Lee; Exploration of intention expression for robots. Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction - HRI '12 2012, 2012, 247-248, 10.1145/2157689.2157778.
  27. Hyun K. Kim; Jaehyun Park; Yeongcheol Choi; Mungyeong Choe; Virtual reality sickness questionnaire (VRSQ): Motion sickness measurement index in a virtual reality environment. Applied Ergonomics 2018, 69, 66-73, 10.1016/j.apergo.2017.12.016.
  28. Sandra G. Hart; Nasa-Task Load Index (NASA-TLX); 20 Years Later. Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2006, 50, 904-908, 10.1177/154193120605000909.
  29. David C. Hoaglin; Boris Iglewicz; Fine-Tuning Some Resistant Rules for Outlier Labeling. Journal of the American Statistical Association 1987, 82, 1147, 10.2307/2289392.
  30. Virginia Braun; Victoria Clarke; Using thematic analysis in psychology. Qualitative Research in Psychology 2006, 3, 77-101, 10.1191/1478088706qp063oa#.VaWGhxNViko.
  31. Kyeong-Beom Park; Sung Ho Choi; Jae Yeol Lee; Yalda Ghasemi; Mustafa Mohammed; Heejin Jeong; Hands-Free Human-Robot Interaction Using Multimodal Gestures and Deep Learning in Wearable Mixed Reality. IEEE Access 2021, 9, 55448-55464, 10.1109/access.2021.3071364.
  32. Maria Kyrarini; Quan Zheng; Muhammad Abdul Haseeb; Axel Graser; Robot Learning of Assistive Manipulation Tasks by Demonstration via Head Gesture-based Interface. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) 2019, 2019, 1139-1146, 10.1109/icorr.2019.8779379.
  33. Max Pascher; Kirill Kronhardt; Til Franzen; Uwe Gruenefeld; Stefan Schneegass; Jens Gerken; My Caregiver the Cobot: Comparing Visualization Techniques to Effectively Communicate Cobot Perception to People with Physical Impairments. Sensors 2022, 22, 755, 10.3390/s22030755.
  34. Fan Zhang; Antoine Cully; Yiannis Demiris; Probabilistic Real-Time User Posture Tracking for Personalized Robot-Assisted Dressing. IEEE Transactions on Robotics 2019, 35, 873-888, 10.1109/tro.2019.2904461.
  35. A. Zlatintsi; A.C. Dometios; N. Kardaris; I. Rodomagoulakis; P. Koutras; X. Papageorgiou; P. Maragos; C.S. Tzafestas; P. Vartholomeos; K. Hauer; et al. I-Support: A robotic platform of an assistive bathing robot for the elderly population. Robotics and Autonomous Systems 2020, 126, 103451, 10.1016/j.robot.2020.103451.
  36. Stephanie Arevalo Arboleda; Max Pascher; Younes Lakhnati; Jens Gerken; Understanding Human-Robot Collaboration for People with Mobility Impairments at the Workplace, a Thematic Analysis. 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2020, 2020, 561-566, 10.1109/ro-man47096.2020.9223489.
  37. Stephanie Arévalo Arboleda; Marvin Becker; Jens Gerken; Does One Size Fit All? A Case Study to Discuss Findings of an Augmented Hands-Free Robot Teleoperation Concept for People with and without Motor Disabilities. Technologies 2022, 10, 4, 10.3390/technologies10010004.
  38. Stephanie Arevalo Arboleda; Max Pascher; Annalies Baumeister; Barbara Klein; Jens Gerken; Reflecting upon Participatory Design in Human-Robot Collaboration for People with Motor Disabilities: Challenges and Lessons Learned from Three Multiyear Projects. The 14th PErvasive Technologies Related to Assistive Environments Conference 2021, 2021, 1, 10.1145/3453892.3458044.
  39. Atsushi Watanabe; Tetsushi Ikeda; Yoichi Morales; Kazuhiko Shinozawa; Takahiro Miyashita; Norihiro Hagita; Communicating robotic navigational intentions. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015, 2015, 5763-5769, 10.1109/iros.2015.7354195.
Full Transcript
1000/1000
Hot Most Recent
©Text is available under the terms and conditions of the Creative Commons-Attribution ShareAlike (CC BY-SA) license; additional terms may apply. By using this site, you agree to the Terms and Conditions and Privacy Policy.

Confirm

Are you sure to Delete?
Yes No
Cite
If you have any further questions, please contact Encyclopedia Editorial Office.
Pascher, M.; Kronhardt, K.; Rübner, S.; Frese, U.; Gerken, J. Adaptive DoF-Control Interaction Methods for Assistive Robot Arms. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/257 (accessed on 15 November 2024).
Pascher M, Kronhardt K, Rübner S, Frese U, Gerken J. Adaptive DoF-Control Interaction Methods for Assistive Robot Arms. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/257. Accessed November 15, 2024.
Pascher, Max, Kirill Kronhardt, Stephan Rübner, Udo Frese, Jens Gerken. "Adaptive DoF-Control Interaction Methods for Assistive Robot Arms" Encyclopedia, https://encyclopedia.pub/video/video_detail/257 (accessed November 15, 2024).
Pascher, M., Kronhardt, K., Rübner, S., Frese, U., & Gerken, J. (2022, March 25). Adaptive DoF-Control Interaction Methods for Assistive Robot Arms. In Encyclopedia. https://encyclopedia.pub/video/video_detail/257
Pascher, Max, et al. "Adaptive DoF-Control Interaction Methods for Assistive Robot Arms." Encyclopedia. Web. 25 March, 2022.
ScholarVision Creations
Feedback