Human-in-the-loop control of an assistive robotic arm in unstructured environments for spinal cord injured users

2009 ◽  
Author(s):  
Dae-Jin Kim ◽  
Aman Behal
Keyword(s):  
Spinal Cord ◽  
Robotic Arm ◽  
Loop Control ◽  
Human In The Loop ◽  
Unstructured Environments ◽  
Spinal Cord Injured ◽  
Assistive Robotic

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

2011 ◽  
Vol 8 (1) ◽  
pp. 127-147 ◽  
Author(s):  
Katherine M. Tsui ◽  
Dae-Jin Kim ◽  
Aman Behal ◽  
David Kontak ◽  
Holly A. Yanco
Keyword(s):  
Cognitive Function ◽  
Cognitive Load ◽  
Complete System ◽  
Target Population ◽  
Robotic Arm ◽  
Loop Control ◽  
Robotic Arms ◽  
Manual Task ◽  
Human In The Loop ◽  
High Level

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.

How to improve working conditions for spinal cord injured? An intervention study at the workplace

2004 ◽  
Author(s):  
Leif Sandsjo ◽  
Lena Grundell ◽  
Kirsi Valtonen ◽  
Ann-Katrin Karlsson ◽  
Eira Viikari-Juntura
Keyword(s):  
Spinal Cord ◽  
Working Conditions ◽  
Intervention Study ◽  
Improve Working ◽  
Spinal Cord Injured
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