Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study

Assistive robotic arms (ARM) have the potential to
make individuals with tetraplegia more independent by enabling
them to perform physical activities. Usually the ARMs are used
within reach of the user while the user is sitting in a powered
wheelchair. In this proof of concept study, we demonstrated for
the first time a tongue based method to provide an individual
with tetraplegia the ability to fetch remote objects such as
beverages while being bedridden. This is done through tonguebased
control of a mobile and remote assistive robotic
manipulator (ARM) which was mounted on a powered
wheelchair. The tongue-computer interface was used by two
subjects to remotely navigate an ARM carrying wheelchair
towards a table and control the ARM to pick up a bottle of water
placed on the table. The subjects were given approximately 40
min to become familiar with the system and then they performed
the task 10 times. Subject 1 succeeded the task in 9 out of 10 trials
and subject 2 in 8 out of 10 trials. The trials lasted for 132±38 s
and 195±64 s for subject 1 and 2, respectively. Thus, the system
has the potential to further empower individuals with tetraplegia
by enabling them to remotely pick-up objects when e.g. lying in
bed, making them more independent and reducing the need for
care. Future work will include further development of the
system (better feedback, semi automation) as well as
experimental assessment with more subjects and tasks.