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

    Authors

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

    Comments

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    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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