Art der Publikation: Beitrag in Sammelwerk

Multiple Ways of Working with Users to Develop Physically Assistive Robots

Autor(en):

Nanavati, Amal; Pascher, Max; Ranganeni, Vinitha; Gordon, Ethan K.; Faulkner, Taylor Kessler; Srinivasa, Siddhartha S.; Cakmak, Maya; Alves-Oliveira, Patrícia; Gerken, Jens

Titel des Sammelbands:

A3DE '24: Workshop on Assistive Applications, Accessibility, and Disability Ethics at the ACM/IEEE International Conference on Human-Robot Interaction

Veröffentlichung:

2024

Digital Object Identifier (DOI):

doi:10.48550/arXiv.2403.00489

Volltext:

Multiple Ways of Working with Users to Develop Physically Assistive Robots (2.59 MB)

Zitation:

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Kurzfassung

Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this---recruitment challenges, small sample sizes, and transportation logistics---all influenced by systemic barriers that people with disabilities face. However, it is well-established that working with end-users results in technology that better addresses their needs and integrates with their lived circumstances. In this paper, we reflect on multiple approaches we have taken to working with people with motor impairments across the design, development, and evaluation of three PAR projects: (a) assistive feeding with a robot arm; (b) assistive teleoperation with a mobile manipulator; and (c) shared control with a robot arm. We discuss these approaches to working with users along three dimensions---individual- vs. community-level insight, logistic burden on end-users vs. researchers, and benefit to researchers vs. community---and share recommendations for how other PAR researchers can incorporate users into their work.