Abstract
Limb repositioning is necessary for individuals with severe physical disabilities to sustain muscle strength and prevent pressure sores. As robotic technologies become ubiquitous, these tools offer promise to support the repositioning process. However, research has yet to focus on ways in which individuals with severe physical disabilities can control robots for these tasks. This paper presents a study that examines the needs and attitudes of potential users with physical disabilities to control a robotic aid for limb repositioning. Subjects expressed interest in using brain–computer interface (BCI) and speech recognition technologies for purposes of executing robotic tasks. The performance of four subjects controlling arm movements on an avatar through the keyboard, mouse, BCI, and Dragon NaturallySpeaking speech recognition was evaluated. Although BCI and speech technologies may limit physical fatigue, more challenges were faced using BCI and speech conditions compared to the keyboard and mouse. This research promotes accessibility into mainstream robotic technologies and represents the first step in the development of a robotic prototype using a BCI and speech recognition technologies for limb repositioning.
Similar content being viewed by others
References
Amfibi: Amfibi Shower Chair. http://www.ergolet.com/americas/en/index.php?act=products&id=42 (2013)
Anderson, G.: Chronic Conditions: Making the Case for Ongoing Care. Johns Hopkins University, Baltimore, MD (2004)
Brunner, C., Blankertz, B., Cincotti, F., Kbler, A., Mattia, D., Miralles, F., Nijholt, A., Otal, B., Salomon, P., Mller-Putz, G.: BNCI horizon 2020—towards a roadmap for brain/neural computer interaction. In: Stephanidis, C., Antona, M. (eds.) Universal Access in Human–Computer Interaction. Design and Development Methods for Universal Access, Lecture Notes in Computer Science, vol. 8513, pp. 475–486. Springer International Publishing (2014). doi:10.1007/978-3-319-07437-5_45
Chen, T., King, C., Kemp, C., Thomaz, A.: Touched by a robot: an investigation of subjective responses to robot-initiated touch. In: Human–Robot Interaction (HRI), 2011 6th ACM/IEEE International Conference on, pp. 457–464 (2011)
Collin, C., Wade, D.T., Davies, S., Horne, V.: The Barthel ADL index: a reliability study. Disabil. Rehabil. 10(2), 61–63 (1988). doi:10.3109/09638288809164103
Cutrell, E., Tan, D.: BCI for passive input in HCI. In: Proceedings of CHI, vol. 8, pp. 1–3. Citeseer (2008)
Diamond, S.: Dragon NaturallySpeaking for Dummies. For Dummies. Wiley (2013). http://books.google.com/books?id=mLds59fgEwMC
Diamond, S.: Dragon NaturallySpeaking for Dummies. Wiley (2014). https://books.google.com/books?id=sLYwBQAAQBAJ
Ding, M., Ikeura, R., Mori, Y., Mukai, T., Hosoe, S.: Measurement of human body stiffness for lifting-up motion generation using nursing-care assistant robot—RIBA. In: SENSORS, 2013 IEEE, pp. 1–4 (2013). doi:10.1109/ICSENS.2013.6688431
Disability Statistics: Online Resource for U.S. Disability Statistics. http://www.disabilitystatistics.org/index.cfm (2014)
Emotiv Epoc: Emotiv—EEG System—electroencephalography. http://www.emotiv.com (2012)
Etac: Etac Swift Mobile Tilt with Motor. http://www.etac.com/en/etaccomexp/Start-Page/Products/Shower-and-toilet-chairs-with-castors1/Swift-Mobil-Tilt/ (2013)
Galitz, W.: The Essential Guide to User Interface Design: An Introduction to GUI Design Principles and Techniques. Wiley Desktop Editions Series. Wiley (2007). https://books.google.com/books?id=Q3Xp_Awu49sC
Grigorescu, S.M., Luth, T., Fragkopoulos, C., Cyriacks, M., Graser, A.: A BCI controlled robotic assistant for quadriplegic people in domestic and professional life. Robotica 30(03), 419–431 (2012). doi:10.1017/S0263574711000737
Hansen, D., Ji, Q.: In the eye of the beholder: a survey of models for eyes and gaze. IEEE Trans. Pattern Anal. Mach. Intell. 32(3), 478–500 (2010). doi:10.1109/TPAMI.2009.30
Jain, A., Kemp, C.C.: EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces. Auton Robots 28(1), 45–64 (2010)
Khosrowpour, M.: Dictionary of Information Science and Technology. IGI Global (2012). https://books.google.com/books?id=3TIv-RrwvSQC
Krishnaswamy, K., Kuber, R.: Toward the development of a BCI and gestural interface to support individuals with physical disabilities. In: Proceedings of the 14th International ACM SIGACCESS Conference on Computers and Accessibility, pp. 229–230. ACM (2012)
Krishnaswamy, K., Sleeman, J., Oates, T.: Real-time path planning for a robotic arm. In: Proceedings of the 4th International Conference on Pervasive Technologies Related to Assistive Environments. ACM (2011)
Law, J., Parkinson, A., Tamhne, R.: Communication Difficulties in Childhood: A Practical Guide. Radcliffe Series. Radcliffe Medical Press (2000). https://books.google.com/books?id=Nkjjdvy9YsYC
Layton, N.: Barriers and facilitators to community mobility for assistive technology users. Rehabil Res Pract 2012, 9 (2012). doi: 10.1155/2012/454195
Lievesley, R., Wozencroft, M., Ewins, D.: The emotiv epoc neuroheadset: an inexpensive method of controlling assistive technologies using facial expressions and thoughts? J. Assist. Technol. 5(2), 67–82 (2011). http://pierprofessional.metapress.com/content/k6336j91xu460251/
Liko—A Hill-Rom Company. http://www.liko.se/na/north-america/Products/Mobile-Lifts/Viking-L (2014)
Liu, K., Sakamoto, D., Inami, M., Igarashi, T.: Roboshop: multi-layered sketching interface for robot housework assignment and management. In: Proceedings of the 2011 Annual Conference on Human Factors in Computing Systems, CHI ’11, pp. 647–656. ACM, New York, NY (2011). doi:10.1145/1978942.1979035
LoPresti, E., Brienza, D.: Adaptive software for head-operated computer controls. IEEE Trans. Neural Syst. Rehabil. Eng. 12(1), 102–111 (2004). doi:10.1109/TNSRE.2003.822762
McKnight, L., Davies, C.: Current Perspectives on Assistive Learning Technologies. Kellogg College Centre for Research into Assistive Learning Technologies (2013)
Mellouk, A.: Quality of Service Mechanisms in Next Generation Heterogeneous Networks. ISTE. Wiley (2013). http://books.google.com/books?id=H3CZKas_jqwC
Mukai, T., Hirano, S., Yoshida, M., Nakashima, H., Guo, S., Hayakawa, Y.: Whole-body contact manipulation using tactile information for the nursing-care assistant robot riba. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pp. 2445 –2451 (2011). doi:10.1109/IROS.2011.6094403
Nuance Communications, Inc.: Guidelines for Developing Windows Applications Compatible with Dragon NaturallySpeaking and Dragon Medical. http://www.section508.va.gov/docs/Dragon_Naturally_Speaking_Apps.pdf (2009)
Ozhek, S.: The process of separation and individuation as the risk factor in psychosocial development of persons with physical disabilities. J. Spec. Educ. Rehabil. 8(1–2), 33–41 (2007)
Rahman, T., Sample, W., Jayakumar, S., King, M., Wee, J., Seliktar, R., Alexander, M., Scavina, M., Clark, A.: Passive exoskeletons for assisting limb movement. J. Rehabil. Res. Dev. 43(5), 583–590 (2006)
Reyes, C.E., Rugayan, J.L.C., Jason, C., Rullan, G., Oppus, C.M., Tangonan, G.L.: A study on ocular and facial muscle artifacts in EEG signals for BCI applications. In: TENCON 2012-2012 IEEE Region 10 Conference, pp. 1–6. IEEE (2012)
Seamone, W., Schmeisser, G.: Early clinical evaluation of a robot arm/worktable system for spinal-cord-injured persons. J. Rehabil. Res. Dev. 22(1), 38–57 (1985)
Smart, J.: Disability Across the Developmental Life Span: For the Rehabilitation Counselor. Springer Series. Springer Publishing Company (2011). http://books.google.com/books?id=uE-DKCMK_bIC
Soyama, R., Ishii, S., Fukase, A.: 8 selectable operating interfaces of the meal-assistance device my spoon. In: Advances in Rehabilitation Robotics, pp. 155–163. Springer (2004)
Stacey, C.L.: Finding dignity in dirty work: the constraints and rewards of low-wage home care labour. Sociol. Health Illn. 27(6), 831–854 (2005)
Sun, M., Nakashima, H., Hirano, S., Matsuo, K., Ding, M., Jiang, C., Mukai, T., Qin, G.: Adaptive user-centered design for safety and comfort of physical human nursing care robot interaction. In: Duffy, V. (ed.) Digital Human Modeling and Applications in Health, Safety, Ergonomics, and Risk Management. Healthcare and Safety of the Environment and Transport, Lecture Notes in Computer Science, vol. 8025, pp. 365–372. Springer, Berlin (2013). doi:10.1007/978-3-642-39173-6_43
Suzuki, R., Ogino, K., Nobuaki, K., Kogure, K., Tanaka, K.: Development of meal support system with voice input interface for upper limb disabilities. In: Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on, pp. 714–718 (2013). doi:10.1109/ICIEA.2013.6566460
Taylor, G.S., Schmidt, C.: Empirical evaluation of the Emotiv EPOC BCI headset for the detection of mental actions. In: Proceedings of the Human Factors and Ergonomics Society Annual Meeting, vol. 56, pp. 193–197. SAGE Publications (2012)
Toyota Motor Corp.: Care Assist Robot Technical Presentation. http://www.toyota-global.com/innovation/partner_robot/technical_presentation (2014)
United States Census Bureau: American Community Survey (2008–2010)
Wahlbin, K.: User Testing with People with Disabilities. http://www.slideshare.net/kwahlbin/usability-testing-for-people-wdisabilities (2012). Slides of a talk given at 15th Annual Accessing Higher Ground 2012, November 12–16
Warner, M., Warner, E.: The Complete Guide to Alzheimer’s-Proofing Your Home. Purdue University Press (2000). https://books.google.com/books?id=UVPG1TMWiFIC
Wilson, E., Campain, R., Moore, M., Hagiliassis, N., McGillivray, J., Gottliebson, D., Bink, M., Caldwell, M., Cummins, R., Graffam, J.: An accessible survey method: increasing the participation of people with a disability in large sample social research. Telecommun. J. Aust, 63(2), 3–27 (2014)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Krishnaswamy, K., Kuber, R. & Oates, T. Developing a limb repositioning robotic interface for persons with severe physical disabilities. Univ Access Inf Soc 15, 609–627 (2016). https://doi.org/10.1007/s10209-015-0439-7
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10209-015-0439-7