Assistive robotic manipulation through shared autonomy and a Body-Machine Interface

Siddarth Jain, Ali Farshchiansadegh, Alexander Broad, Farnaz Abdollahi, Ferdinando Mussa-Ivaldi, Brenna Argall

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Scopus citations

Abstract

Assistive robotic manipulators have the potential to improve the lives of people with motor impairments. They can enable individuals to perform activities such as pick-and-place tasks, opening doors, pushing buttons, and can even provide assistance in personal hygiene and feeding. However, robotic arms often have more degrees of freedom (DoF) than the dimensionality of their control interface, making them challenging to use - especially for those with impaired motor abilities. Our research focuses on enabling the control of high-DoF manipulators to motor-impaired individuals for performing daily tasks. We make use of an individual's residual motion capabilities, captured through a Body-Machine Interface (BMI), to generate control signals for the robotic arm. These low-dimensional controls are then utilized in a shared-control framework that shares control between the human user and robot autonomy. We evaluated the system by conducting a user study in which 6 participants performed 144 trials of a manipulation task using the BMI interface and the proposed shared-control framework. The 100% success rate on task performance demonstrates the effectiveness of the proposed system for individuals with motor impairments to control assistive robotic manipulators.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publicationEnabling Technology Festival, ICORR 2015
EditorsDavid Braun, Haoyong Yu, Domenico Campolo
PublisherIEEE Computer Society
Pages526-531
Number of pages6
ISBN (Electronic)9781479918072
DOIs
StatePublished - Sep 28 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2015-September
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

Other14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period8/11/158/14/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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    Jain, S., Farshchiansadegh, A., Broad, A., Abdollahi, F., Mussa-Ivaldi, F., & Argall, B. (2015). Assistive robotic manipulation through shared autonomy and a Body-Machine Interface. In D. Braun, H. Yu, & D. Campolo (Eds.), Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015 (pp. 526-531). [7281253] (IEEE International Conference on Rehabilitation Robotics; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ICORR.2015.7281253