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

Katherine M. Tsui | Zendy; DaeJin Kim | Zendy; Aman Behal | Zendy; David Kontak | Zendy; Holly A. Yanco | Zendy

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

Author(s) -

Katherine M. Tsui,

DaeJin Kim,

Aman Behal,

David Kontak,

Holly A. Yanco

Publication year - 2011

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1155/2011/698079

Subject(s) - wheelchair , robotic arm , task (project management) , object (grammar) , interface (matter) , human–computer interaction , computer science , population , control (management) , simulation , artificial intelligence , engineering , systems engineering , operating system , medicine , bubble , maximum bubble pressure method , world wide web , environmental health

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.

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