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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| Veröffentlicht in: | Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction. ACM/IEEE Conference on Human-Robot Interaction (2024 : Boulder, Colo.) Jg. 2024; S. 1048 |
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| Hauptverfasser: | , , , , , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
United States
01.03.2024
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| Schlagworte: | |
| Online-Zugang: | Weitere Angaben |
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| Zusammenfassung: | 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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| Bibliographie: | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
| DOI: | 10.1145/3610978.3640565 |