“I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm
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...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.3233/ABB-2011-0004 |
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| _version_ | 1832567792083140608 |
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| author | Katherine M. Tsui Dae-Jin Kim Aman Behal David Kontak Holly A. Yanco |
| author_facet | Katherine M. Tsui Dae-Jin Kim Aman Behal David Kontak Holly A. Yanco |
| author_sort | Katherine M. Tsui |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-590109d498ff4daeb960c727c6545df7 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-590109d498ff4daeb960c727c6545df72025-02-03T01:00:35ZengWileyApplied Bionics and Biomechanics1176-23221754-21032011-01-018112714710.3233/ABB-2011-0004“I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic ArmKatherine M. Tsui0Dae-Jin Kim1Aman Behal2David Kontak3Holly A. Yanco4University of Massachusetts Lowell, Lowell, MA, USAUniversal Robotics, Inc., Noshville, TN, USAUniversity of Central Florida, Orlando, FL, USACrotched Mountain Rehabilitation Center, Greenfield, NH, USAUniversity of Massachusetts Lowell, Lowell, MA, USAWheelchair-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.http://dx.doi.org/10.3233/ABB-2011-0004 |
| spellingShingle | 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 |
| title | “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm |
| title_full | “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm |
| title_fullStr | “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm |
| title_full_unstemmed | “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm |
| title_short | “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm |
| title_sort | i want that human in the loop control of a wheelchair mounted robotic arm |
| url | http://dx.doi.org/10.3233/ABB-2011-0004 |
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