Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility

Felix Ferdinand Goldau, Max Pascher, Annalies Baumeister, Patrizia Tolle, Jens Gerken, Udo Frese

TL;DR

The paper addresses enabling independence for people with limited upper-limb mobility by evaluating an adaptive degrees-of-freedom (DoF) shared-control approach in assistive robotics. It implements a behavior-based heuristic control with known initial poses and tests it across three input devices (Head-Control, Joystick, Assistive Buttons) in a real-world trade-fair setting with 24 participants. It combines quantitative metrics (task completion time, UI/mode switches, RTLX) with qualitative analyses to assess learnability, acceptance, and cross-device generalizability. Findings show high task success across devices and generally positive user attitudes, though learning curves and visualization cues indicate the need for training and clearer motion intent for broader adoption in daily living activities.

Abstract

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically tailored for individuals with upper limb impairments. It employs a between-subjects analysis with 24 participants, conducting 81 trials across three distinct input devices in a realistic everyday-task setting. Given the diverse capabilities of the vulnerable target demographic and the known challenges in statistical comparisons due to individual differences, the study focuses primarily on subjective qualitative data. The results reveal consistently high success rates in trial completions, irrespective of the input device used. Participants appreciated their involvement in the research process, displayed a positive outlook, and quick adaptability to the control system. Notably, each participant effectively managed the given task within a short time frame.

Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility

TL;DR

The paper addresses enabling independence for people with limited upper-limb mobility by evaluating an adaptive degrees-of-freedom (DoF) shared-control approach in assistive robotics. It implements a behavior-based heuristic control with known initial poses and tests it across three input devices (Head-Control, Joystick, Assistive Buttons) in a real-world trade-fair setting with 24 participants. It combines quantitative metrics (task completion time, UI/mode switches, RTLX) with qualitative analyses to assess learnability, acceptance, and cross-device generalizability. Findings show high task success across devices and generally positive user attitudes, though learning curves and visualization cues indicate the need for training and clearer motion intent for broader adoption in daily living activities.

Abstract

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically tailored for individuals with upper limb impairments. It employs a between-subjects analysis with 24 participants, conducting 81 trials across three distinct input devices in a realistic everyday-task setting. Given the diverse capabilities of the vulnerable target demographic and the known challenges in statistical comparisons due to individual differences, the study focuses primarily on subjective qualitative data. The results reveal consistently high success rates in trial completions, irrespective of the input device used. Participants appreciated their involvement in the research process, displayed a positive outlook, and quick adaptability to the control system. Notably, each participant effectively managed the given task within a short time frame.
Paper Structure (22 sections, 5 figures)

This paper contains 22 sections, 5 figures.

Table of Contents

  1. Introduction
  2. Assistive Robotics in Domestic Care
  3. Shared Robot Control Applications
  4. Technical Concept
  5. Study Method and Materials
  6. Study Design
  7. Hypotheses
  8. Apparatus
  9. Participants
  10. Procedure
  11. Experimental Setting and Task
  12. Results
  13. User Procedure Analysis
  14. Thematic Content Analysis
  15. Learning the Control
  16. ...and 7 more sections

Figures (5)

  • Figure 1: Study apparatus at the trade fair, illustrating the placement of user, table, and shelf, as well as the UI visualized on the smart glasses (top left)
  • Figure 2: Input devices used in the study: (a)Google Glass EE2glass_img, (b) custom-built Joystick, and (c)Assistive Buttons
  • Figure 3: Box plot of execution procedure measurements over all users with $N_{\text{Head-Control}}=36$, $N_{\text{Joystick}}=17$, $N_{\text{Buttons}}=16$. The bold line represents the median
  • Figure 4: Results of the RTLX questionnaires
  • Figure 5: Histogram of preferred level of (robotic) automation of all users (0 complete manual control, 10 complete automation)