Type of Publication: Article in Collected Edition

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

Author(s):

Pascher, Max; Zinta, Kevin; Gerken, Jens

Title of Anthology:

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI '24 Companion), March 11--14, 2024, Boulder, CO, USA

Publisher:

ACM

Location(s):

Boulder, Colorado, USA

Publication Date:

2024

ISBN:

979-8-4007-0323-2/24

Digital Object Identifier (DOI):

doi:10.1145/3610978.3640626

Fulltext:

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms (694 KB)

Citation:

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Abstract

Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to manage multiple Degrees-of-Freedom (DoFs) for tasks like grasping and manipulating objects. Conventional input devices, typically limited to two DoFs, necessitate frequent and complex mode switches to control individual DoFs. Modern adaptive controls with feed-forward multi-modal feedback reduce the overall task completion time, number of mode switches, and cognitive load. Despite the variety of input devices available, their effectiveness in adaptive settings with assistive robotics has yet to be thoroughly assessed. This study explores three different input devices by integrating them into an established XR framework for assistive robotics, evaluating them and providing empirical insights through a preliminary study for future developments.