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A Novel Tongue-based Remote Control and the Implication of Adaptive Semi-automation, Fixed Semi-Automation and Manual Control of a Wheelchair mounted Assistive Robotic Manipulator
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  • Ásgerður Arna Pálsdóttir ,
  • Rasmus Leck Kæseler ,
  • Stefan Hein Bengtson ,
  • Thomas B. Moeslund ,
  • Lotte N. S. Andreasen Struijk
Ásgerður Arna Pálsdóttir
Aalborg University

Corresponding Author:[email protected]

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Rasmus Leck Kæseler
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Stefan Hein Bengtson
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Thomas B. Moeslund
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Lotte N. S. Andreasen Struijk
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Abstract

Increasing the independence of individuals with tetraplegia is a challenging task. One potential solution is to allow for use of assistive robotics, specifically an assistive robotic manipulator (ARM), when solving varying tasks in personal and remote space. Allowing for remote performances has a positive influence on the independence of the user, allowing the user to be self-sufficient even when lying in bed. The control interfaces that are suitable for severely disabled individuals is lacking. The aim of this paper is twofold: to allow for remote tongue-based control of an ARM and second, to compare the effect of semi-automation on the control of a robotic ARM. Ten able-bodied individuals participated in a two-day experiment where they were asked to drive a wheelchair mounted ARM away from the participant and out of sight. Thereafter, they should either pick up a strawberry or a bottle from a table. All the participants successfully finished three trials for three different control methods: 1) manual control (MA), 2) adaptive level semi-automation (SA), and 3) fixed level semi-automation (FA). When grasping the strawberry, there was a significant decrease in the gripping time and number of used commands when using FA compared to MA. When grasping the bottle, the SA showed a significant reduction in gripping time and number of used commands compared with MA. This paper is a step in the direction of providing severely paralyzed individuals with a way to increase their independence and overall quality of life.