Abstract
Hands-free robot teleoperation and augmented reality have the potential to create an inclusive environment for people with motor disabilities. It may allow them to teleoperate robotic arms to manipulate objects. However, the experiences evoked by the same teleoperation concept and augmented reality can vary significantly for people with motor disabilities compared to those without disabilities. In this paper, we report the experiences of Miss L., a person with multiple sclerosis, when teleoperating a robotic arm in a hands-free multimodal manner using a virtual menu and visual hints presented through the Microsoft HoloLens 2. We discuss our findings and compare her experiences to those of people without disabilities using the same teleoperation concept. Additionally, we present three learning points from comparing these experiences: a re-evaluation of the metrics used to measure performance, being aware of the bias, and considering variability in abilities, which evokes different experiences. We consider these learning points can be extrapolated to carrying human–robot interaction evaluations with mixed groups of participants with and without disabilities.
Highlights
Robots and assistive devices have taken a caregiving role for the aging population and people with disabilities [1,2,3]
We report on the experience of an IMD, Miss L., when teleoperating a robotic arm using our multimodal hands-free teleoperation concept
We present learning points when comparing the experiences of people with and without disabilities with our robot teleoperation concept
Summary
Robots and assistive devices have taken a caregiving role for the aging population and people with disabilities [1,2,3]. People with Motor Disabilities (PMD) have restricted mobility of the upper and/or lower limbs and could perform reaching and manipulation tasks using robotic arms. An example of this is the Lio robot, which is presented as a “multifunctional arm designed for humanrobot interaction and personal care assistant tasks” and has been used in different assistive environments and health care facilities [4]. Many PMD maintain their ability to use eye gaze, head movements, and speech and use those abilities to interact with other people and the environment These abilities can be used as hands-free input modalities which can be suitable for robot control [5]. A multimodal approach to robot teleoperation may complement the use of some modalities
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