@inproceedings{98fd9541133143328e1e091bd541e41c,
title = "An Evolution of Assistive Robot Control to Meet End-User Ability",
abstract = "In this work, we present an evolution of system designs and studies that aim to facilitate the operation of high-DoF assistive robotic arms by persons with upper limb paralysis. We highlight the experimental pipeline and note developments in our efforts to design a suitable control map that can convert low variance residual body motions from neuromotor-impaired populations into 6-D velocity control signals for use in teleoperating a 7-DOF robotic arm. Notably, we provide results from variance analyses on raw IMU control signals from both neuromotor-impaired and unimpaired populations, and an analysis of the intrinsic dimensionality of map-building datasets gathered with and without movement guidance. We then present a preliminary 13-session study that vets the control map developed in light of these findings.",
keywords = "Accessibility, Assistive Devices, Body-Machine Interface, Rehabilitation Robotics, Robot Control, Spinal-Cord Injury",
author = "Andrew Thompson and Fabio Rizzoglio and Neylon, {Fiona A.} and Barsoum, {Demiana R.} and Ammon, {Lucy E.} and McCune, {Maximus N.} and Lee Miller and Brenna Argall",
note = "Publisher Copyright: {\textcopyright} 2024 Copyright held by the owner/author(s); 19th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2024 ; Conference date: 11-03-2024 Through 15-03-2024",
year = "2024",
month = mar,
day = "11",
doi = "10.1145/3610978.3640565",
language = "English (US)",
series = "ACM/IEEE International Conference on Human-Robot Interaction",
publisher = "IEEE Computer Society",
pages = "1048--1052",
booktitle = "HRI 2024 Companion - Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction",
address = "United States",
}