Title

"I want that": Human-in-the-loop control of a wheelchair-mounted robotic arm

Authors

Authors

K. M. Tsui; D. J. Kim; A. Behal; D. Kontak;H. A. Yanco

Comments

Authors: contact us about adding a copy of your work at STARS@ucf.edu

Abbreviated Journal Title

Appl. Bionics Biomech.

Keywords

Human-robot interaction; visual servoing; Engineering, Biomedical; Robotics

Abstract

Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.

Journal Title

Applied Bionics and Biomechanics

Volume

8

Issue/Number

1

Publication Date

1-1-2011

Document Type

Article

Language

English

First Page

127

Last Page

147

WOS Identifier

WOS:000304752400010

ISSN

1176-2322

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