TY - GEN
T1 - Assistive robotic manipulation through shared autonomy and a Body-Machine Interface
AU - Jain, Siddarth
AU - Farshchiansadegh, Ali
AU - Broad, Alexander
AU - Abdollahi, Farnaz
AU - Mussa-Ivaldi, Ferdinando
AU - Argall, Brenna
PY - 2015/9/28
Y1 - 2015/9/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84946060018&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946060018&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2015.7281253
DO - 10.1109/ICORR.2015.7281253
M3 - Conference contribution
C2 - 26855690
AN - SCOPUS:84946060018
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 526
EP - 531
BT - Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
A2 - Braun, David
A2 - Yu, Haoyong
A2 - Campolo, Domenico
PB - IEEE Computer Society
T2 - 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Y2 - 11 August 2015 through 14 August 2015
ER -