Abstract
Abstract The design of user interfaces (UIs) for assistive robot systems can be improved through the use of a set of design guidelines presented in this article. As an example, the article presents two different UI designs for an assistive manipulation robot system. We explore the design considerations from these two contrasting UIs. The first is referred to as the graphical user interface (GUI), which the user operates entirely through a touchscreen as a representation of the state of the art. The second is a type of novel UI referred to as the tangible user interface (TUI). The TUI makes use of devices in the real world, such as laser pointers and a projector–camera system that enables augmented reality. Each of these interfaces is designed to allow the system to be operated by an untrained user in an open environment such as a grocery store. Our goal is for these guidelines to aid researchers in the design of human–robot interaction for assistive robot systems, particularly when designing multiple interaction methods for direct comparison.
Highlights
Many different types of user interfaces (UIs) exist for assistive robots that are designed to help people with disabilities with activities of daily living (ADLs) while maintaining their sense of independence
Design guidelines for assistive robots 393 ciples that we have identified as being important for UIs for assistive robots, and the importance of guaranteeing that the underlying process for operating the system is consistent through the use of a state diagram that describes the loop of interactions between human and robot
As an example use of the GUIDE-AR guidelines, we present the implementation of two UIs for an assistive robotic manipulator system mounted to a mobility scooter that we have developed in our previous work [4]
Summary
Many different types of user interfaces (UIs) exist for assistive robots that are designed to help people with disabilities with activities of daily living (ADLs) while maintaining their sense of independence. Graf et al [1] presented a touchscreen interface for object selection with an assistive robot manipulator. For our research on the development of different types of UIs for assistive robotics, we have had to solve the problem of how to directly compare the usability of UI designs despite the modes of interaction between the user and the system being entirely different. Without the ability for a direct comparison, how can we learn the best methods for human–robot interaction (HRI) with assistive robot systems?. We present guidelines for designing UIs for assistive robots that ensure that any two UIs are directly comparable.
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