Title

An Empirical Study With Simulated Adl Tasks Using A Vision-Guided Assistive Robot Arm

Keywords

Assistive robotics; Robot assisted activity &; therapy; Robotics for caregiving

Abstract

In this paper, we describe an empirical study with healthy subjects with simulated ADL tasks using UCF - ARM - a 6-DOF assistive robot that is visually guided through a calibrated stereo camera system fitted in the gripper of Exact Dynamics' Manus ARM. The goal of the research is to reduce time to task completion and cognitive burden for users interacting with an unstructured environment via a Wheelchair Mounted Robotic Arm (WMRA). Our WMRA, UCF-ARM, provides access to a multimodal user-customizable human computer interface and accomplishes visual servoing through an in-hand stereo rig as well as adaptive grip force application through force sensing resistors embedded in the fingers of the gripper. Choice of user interface is dependent on the user's functional level and injury. Two level object grasping tasks are used to assess the time to task completion and cognitive burden for users evaluating the system under different tasks, control modes, and interface modalities. Results of the statistical analysis are provided to compare the advantages and disadvantages of the evaluated options. ©2009 IEEE.

Publication Date

11-17-2009

Publication Title

2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Number of Pages

504-509

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/ICORR.2009.5209527

Socpus ID

70449371816 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/70449371816

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