“I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm

Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy...

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Published inApplied bionics and biomechanics Vol. 8; no. 1; pp. 127 - 147
Main Authors Katherine M. Tsui, Dae-Jin Kim, Aman Behal, David Kontak, Holly A. Yanco
Format Journal Article
LanguageEnglish
Published Wiley 01.01.2011
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Abstract Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.
AbstractList Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.
Author Holly A. Yanco
David Kontak
Katherine M. Tsui
Aman Behal
Dae-Jin Kim
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  organization: University of Central Florida, Orlando, FL, USA
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  organization: Crotched Mountain Rehabilitation Center, Greenfield, NH, USA
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  fullname: Holly A. Yanco
  organization: University of Massachusetts Lowell, Lowell, MA, USA
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