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A human-in-the-loop system is proposed to enable collaborative manipulationtasks for person with physical disabilities. Studies show that the cognitiveburden of subject reduces with increased autonomy of assistive system. Ourframework obtains high-level intent from the user to specify manipulationtasks. The system processes sensor input to interpret the user's environment.Augmented reality glasses provide ego-centric visual feedback of theinterpretation and summarize robot affordances on a menu. A tongue drive systemserves as the input modality for triggering a robotic arm to execute the tasks.Assistance experiments compare the system to Cartesian control and tostate-of-the-art approaches. Our system achieves competitive results withfaster completion time by simplifying manipulation tasks.

The Helping Hand: An Assistive Manipulation Framework Using Augmented Reality and a Tongue-Drive Interfaces