Abstract
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.
Highlights
According the United States (US) Census in 2000, over 21 million people reported themselves as having a physical disability, which is defined as “substantial limitation in the ability to perform basic physical activities, such as walking, climbing stairs, reaching, lifting, or carrying” [3]
User selection time was divided into perception time, and motor time
From the gripper camera images logged after the gross motion and fine motion, we calculated the number of feature points in each image and template, respectively, and computed the matching feature points between the images
Summary
According the United States (US) Census in 2000, over 21 million people reported themselves as having a physical disability, which is defined as “substantial limitation in the ability to perform basic physical activities, such as walking, climbing stairs, reaching, lifting, or carrying” [3]. The majority of the people who reported a physical disability (52.7%) were in the 16– 64 age category, followed closely by the over 64 age category (45.1%). A total of 6.8 million Americans not living in an institutionalized setting use mobility aids to allow for more independent and energy efficient movement within their environments [4]. Of the people using mobility aids, 1.7 million people use scooters and wheelchairs (1.5 million using manual wheelchairs, 155,000 using power wheelchairs, and 142,000 using scooters) [4]. As of 2007, the number of people who use wheelchairs is predicted to increase 22% over the 10 years [5], and we estimate the number of people who will use wheelchair to be greater than 2 million
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