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Human-in-the-loop control of an assistive robotic arm in unstructured environments for spinal cord injured users

Published: 09 March 2009 Publication History

Abstract

We describe the progress in implementing a vision based robotic assist device to facilitate Activities of Daily Living (ADL) tasks for a class of users with motor disabilities. The goal of the research is to reduce time to task completion and cognitive burden for users interacting with an unstructured environment via a Wheelchair Mounted Robotic Arm (WMRA). A developed robot system is tested with five healthy subjects to assess its usefulness.

References

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Online reference. Neuromuscular Diseases in the MDA Program, 2008. http://www.mdausa.org/disease/40list.html.
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F. Liefhebber and J. Sijs. Vision-based Control of the Manus using SIFT. In Proc. of ICORR'07, Netherlands, 2007.
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A. Remazeilles, C. Leroux, and G. Chalubert. SAM: a robotic butler for handicapped people. In Proc. of RO-MAN'08, Munich, Germany, 2008.
[4]
M. Hernandez, S. Echeverry, R. Guerra, D.-J. Kim, C. Hamilton, and A. Behal. User-Guided Vision-Based Control of a Wheelchair Mounted Assistive Robotic Arm in an Unstructured Environment. In Proc. of RESNA'08, Arlington, VA, 2008.

Cited By

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  • (2021)An Exploration of Accessible Remote Tele-operation for Assistive Mobile Manipulators in the Home2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)10.1109/RO-MAN50785.2021.9515511(1202-1209)Online publication date: 8-Aug-2021
  • (2019)Cyber Human InteractionEncyclopedia of Complexity and Systems Science10.1007/978-3-642-27737-5_708-1(1-22)Online publication date: 20-Aug-2019
  • (2017)Designing for Reuse in an Industrial Internet of Things Monitoring ApplicationProceedings of the 2nd Workshop on Social, Human, and Economic Aspects of Software10.1145/3098322.3098323(19-25)Online publication date: 29-May-2017
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  1. Human-in-the-loop control of an assistive robotic arm in unstructured environments for spinal cord injured users

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    Published In

    cover image ACM Conferences
    HRI '09: Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
    March 2009
    348 pages
    ISBN:9781605584041
    DOI:10.1145/1514095

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    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 09 March 2009

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    Author Tags

    1. assistive robots
    2. control architecture
    3. experimental

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    HRI09
    HRI09: International Conference on Human Robot Interaction
    March 9 - 13, 2009
    California, La Jolla, USA

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    Overall Acceptance Rate 268 of 1,124 submissions, 24%

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    HRI '25
    ACM/IEEE International Conference on Human-Robot Interaction
    March 4 - 6, 2025
    Melbourne , VIC , Australia

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    View all
    • (2021)An Exploration of Accessible Remote Tele-operation for Assistive Mobile Manipulators in the Home2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)10.1109/RO-MAN50785.2021.9515511(1202-1209)Online publication date: 8-Aug-2021
    • (2019)Cyber Human InteractionEncyclopedia of Complexity and Systems Science10.1007/978-3-642-27737-5_708-1(1-22)Online publication date: 20-Aug-2019
    • (2017)Designing for Reuse in an Industrial Internet of Things Monitoring ApplicationProceedings of the 2nd Workshop on Social, Human, and Economic Aspects of Software10.1145/3098322.3098323(19-25)Online publication date: 29-May-2017
    • (2017)ReferencesA Practical Introduction to Human‐in‐the‐Loop Cyber‐Physical Systems10.1002/9781119377795.refs(275-287)Online publication date: 3-Nov-2017
    • (2015)A Survey on Human-in-the-Loop Applications Towards an Internet of AllIEEE Communications Surveys & Tutorials10.1109/COMST.2015.239881617:2(944-965)Online publication date: Oct-2016
    • (2014)Reducing Energy Waste for Computers by Human-in-the-Loop ControlIEEE Transactions on Emerging Topics in Computing10.1109/TETC.2013.22812042:4(448-460)Online publication date: Dec-2014
    • (2013)Less Is MoreIEEE Transactions on Robotics10.1109/TRO.2013.224855129:3(695-703)Online publication date: 1-Jun-2013
    • (2012)A Control Architecture for Human-Machine Interaction in the Presence of Unreliable Automation and Operator Cognitive LimitationsAIAA Guidance, Navigation, and Control Conference10.2514/6.2012-4543Online publication date: 6-Sep-2012
    • (2012)Control of human-machine interaction for wide area search munitions in the presence of target uncertaintyProceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction10.1145/2157689.2157752(195-196)Online publication date: 5-Mar-2012
    • (2010)Human-in-the-Loop: Terminal constraint receding horizon control with human inputs2010 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2010.5509715(2712-2717)Online publication date: May-2010

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