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Teleoperation of mobile manipulators within a home environment cansignificantly enhance the independence of individuals with severe motorimpairments, allowing them to regain the ability to perform self-care andhousehold tasks. There is a critical need for novel teleoperation interfaces tooffer effective alternatives for individuals with impairments who may encounterchallenges in using existing interfaces due to physical limitations. In thiswork, we iterate on one such interface, HAT (Head-Worn AssistiveTeleoperation), an inertial-based wearable integrated into any head-worngarment. We evaluate HAT through a 7-day in-home study with Henry Evans, anon-speaking individual with quadriplegia who has participated extensively inassistive robotics studies. We additionally evaluate HAT with a proposed sharedcontrol method for mobile manipulators termed Driver Assistance and demonstratehow the interface generalizes to other physical devices and contexts. Ourresults show that HAT is a strong teleoperation interface across key metricsincluding efficiency, errors, learning curve, and workload. Code and videos arelocated on our project website.

Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator