Development of a Vision-Guided Shared-Control System for Assistive Robotic Manipulators

Sensors, 2022 · DOI: 10.3390/s22124351 · Published: June 8, 2022

Simple Explanation

The paper introduces a vision-guided shared-control (VGS) system for assistive robotic manipulators (ARMs). This system aims to help people with upper-limb impairments perform daily tasks by combining user control with automated robotic actions. The VGS system allows users to control the broad movements of the robot arm, while the robot autonomously handles the precise manipulations. This division of labor intends to make the robot easier to use and more efficient for completing tasks. Preliminary evaluations showed the VGS system improved task performance and reduced the mental workload for users, suggesting it has potential to improve the usability of assistive robots.

Study Duration

Not specified

Participants

3 test pilots without disability and 1 participant with a C6 incomplete spinal cord injury

Evidence Level

Not specified

Key Findings

1
The VGS control can improve task-performance parameters such as success rate, joystick mode-switch frequency, and time of completion for certain manipulation types.
2
VGS control has the potential to improve performance consistency, showing the standard deviation of time spent and joystick mode-switch frequency across multiple trials was much smaller than under teleoperation.
3
The VGS control can reduce cognitive workloads, as shown by the NASA-TLX ratings from the case participant, who reported reduced mental demand, effort, and frustration.

Research Summary

This paper introduces a vision-guided shared-control (VGS) system for assistive robotic manipulators, designed to aid individuals with upper-limb impairments in performing multi-step functional tasks. The system combines user teleoperation for gross movements with autonomous robotic actions for fine manipulation. Evaluations with test pilots and a case participant with a spinal cord injury showed that the VGS control improved task performance in terms of success rate, task completion time, and reduced joystick mode-switch frequency, while also reducing perceived workload. While the VGS control shows promise, further improvements are needed in areas such as perception, path planning, and control-authority transition to enhance its robustness and usability in realistic settings.

Practical Implications

Improved Assistive Robot Usability

VGS control can potentially make assistive robots easier and more efficient for individuals with upper-limb impairments to use in daily tasks.

Enhanced Task Performance

The system's combination of user control and automation can lead to better success rates, faster completion times, and reduced physical and mental strain.

Framework for Human-Robot Interaction Research

The VGS control approach serves as a valuable platform for investigating different human-robot interaction strategies in assistive robotics.

Study Limitations

1
The 'fill cup' step was performed in a simulated way to avoid accidental spills.
2
The study evaluated the VGS control against teleoperation with only three test pilots and one participant with a disability.
3
The VGS control lacked robustness due to fiducial tag localization errors and GUI crashes.

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