Assistive teleoperation of robot arms via automatic time-optimal mode switching

Assistive robotic arms are increasingly enabling users with upper extremity disabilities to perform activities of daily living on their own. However, the increased capability and dexterity of the arms also makes them harder to control with simple, low-dimensional interfaces like joy-sticks and sip-a...

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Bibliographic Details
Published in:2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) Vol. 2016; pp. 35 - 42
Main Authors: Herlant, Laura V., Holladay, Rachel M., Srinivasa, Siddhartha S.
Format: Conference Proceeding Journal Article
Language:English
Published: United States IEEE 01.03.2016
Subjects:
Computational modeling
Conferences
Consumption
Control systems
Disabilities
Grippers
Interviews
Optimization
Robot arms
Robots
Switches
Switching
User satisfaction
Wrist
ISSN:2167-2148
Online Access:Get full text
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Summary:Assistive robotic arms are increasingly enabling users with upper extremity disabilities to perform activities of daily living on their own. However, the increased capability and dexterity of the arms also makes them harder to control with simple, low-dimensional interfaces like joy-sticks and sip-and-puff interfaces. A common technique to control a high-dimensional system like an arm with a low-dimensional input like a joystick is through switching between multiple control modes. However, our interviews with daily users of the Kinova JACO arm identified mode switching as a key problem, both in terms of time and cognitive load. We further confirmed objectively that mode switching consumes about 17.4% of execution time even for able-bodied users controlling the JACO. Our key insight is that using even a simple model of mode switching, like time optimality, and a simple intervention, like automatically switching modes, significantly improves user satisfaction.
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ISSN:2167-2148
DOI:10.1109/HRI.2016.7451731