An Evolution of Assistive Robot Control to Meet End-User Ability

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 conv...

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Bibliographic Details
Published in:Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction. ACM/IEEE Conference on Human-Robot Interaction (2024 : Boulder, Colo.) Vol. 2024; p. 1048
Main Authors: Thompson, Andrew, Rizzoglio, Fabio, Neylon, Fiona A, Barsoum, Demiana R, Ammon, Lucy E, McCune, Maximus N, Miller, Lee, Argall, Brenna
Format: Journal Article
Language:English
Published: United States 01.03.2024
Subjects:
Body-Machine Interface
Accessibility
Robot Control
Assistive Devices
Spinal-Cord Injury
Rehabilitation Robotics
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Summary: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.
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DOI:10.1145/3610978.3640565