TY - GEN
T1 - Adaptive Semi-automatic Robot Control by Tongue in a Remote Setting for Individuals with Tetraplegia
AU - Mortensen, Anton Bjørndahl
AU - Tribler Pedersen, Emil
AU - Winther Knudsen, Jacob
AU - Kjærgaard Mortensen, Jesper
AU - Bøgestrand, Marie Hjorth
AU - Struijk, Lotte N. S. Andreasen
AU - Pálsdóttir, Ásgerdur Arna
N1 - © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
PY - 2021/12
Y1 - 2021/12
N2 - Individuals with tetraplegia are severely limited in terms of independence, which can lead to depression and premature death. The field of robotics has sought to create solutions for increased independence by enabling individuals with tetraplegia to perform physical activities. This includes semiautomatic solutions. The use case of an assistive robotic manipulator (ARM) and thus increased independence could be expanded by allowing remote control, e.g. when the user is lying in bed. This study presents and evaluates semi-autonomous intraoral tongue-based control of a seven degree of freedom ARM/gripper in a near and remote setting. The system consists of a tongue control interface (iTongue), a semi-automatic framework based on YOLOv5 and adaptive levels of automation, an Intel Realsense D435i camera and a JACO robotic manipulator. Two study participants completed ten rounds of controlling the JACO ARM to reach and pick up a soda bottle and pour from it in a cup. The semi-automation improved the grasping performance for both of the study participants, particularly when controlling in a remote setting, decreasing the cognitive load and the overall task completion time. The presented system has the potential to increase the independence and quality of life for individuals with tetraplegia, by enabling the user to perform physical activities even when lying in bed. Future work should include expanding the semi-automation to other activities of daily living and evaluating the system in a greater population and by individuals with tetraplegia.
AB - Individuals with tetraplegia are severely limited in terms of independence, which can lead to depression and premature death. The field of robotics has sought to create solutions for increased independence by enabling individuals with tetraplegia to perform physical activities. This includes semiautomatic solutions. The use case of an assistive robotic manipulator (ARM) and thus increased independence could be expanded by allowing remote control, e.g. when the user is lying in bed. This study presents and evaluates semi-autonomous intraoral tongue-based control of a seven degree of freedom ARM/gripper in a near and remote setting. The system consists of a tongue control interface (iTongue), a semi-automatic framework based on YOLOv5 and adaptive levels of automation, an Intel Realsense D435i camera and a JACO robotic manipulator. Two study participants completed ten rounds of controlling the JACO ARM to reach and pick up a soda bottle and pour from it in a cup. The semi-automation improved the grasping performance for both of the study participants, particularly when controlling in a remote setting, decreasing the cognitive load and the overall task completion time. The presented system has the potential to increase the independence and quality of life for individuals with tetraplegia, by enabling the user to perform physical activities even when lying in bed. Future work should include expanding the semi-automation to other activities of daily living and evaluating the system in a greater population and by individuals with tetraplegia.
U2 - 10.1109/BIBE52308.2021.9635539
DO - 10.1109/BIBE52308.2021.9635539
M3 - Article in proceeding
SN - 978-1-6654-4262-6
T3 - International Conference on Bioinformatics and Bioengineering
BT - IEEE 21st International Conference on Bioinformatics and Bioengineering (BIBE)
PB - IEEE
T2 - IEEE 21st International Conference on Bioinformatics and Bioengineering (BIBE)
Y2 - 25 October 2021 through 27 October 2021
ER -