Router-based tongue control of a wheelchair mounted ARM: getting a beverage from the kitchen while sitting on the sofa

Increased independence for individuals with tetraplegia is extremely important as it plays a role in increasing quality of life and preventing depression. Increased independence can be achieved by enabling the end-user to take control of an assistive robotic manipulator (ARM). The current ARMs known to work for disabled individuals, still pose a key issue, - the availability of a suitable interface for severely disabled individuals is practically non-existing. Furthermore, the use of the ARM is limited to control while the user is in the proximity of it.
In this study, the potential of controlling a wheelchair mounted ARM (WMARM), with the user placed at a distance, hereunder a different room, from the system, was explored. The system consisted of a tongue control interface (adapted iTongue) which communicated with the WMARM through a standard Wi-Fi router. The WMARM was equipped with two cameras, which provided visual feedback through a computer screen to the user.
One subject participated and drove the wheelchair mounted ARM from one room, through a door and into a kitchen. In the kitchen, a bottle of water was located, picked up and brought back to the other room.
The subject successfully finished five rounds, where each round lasted 255s ± 33s.
The potential of increasing the independence of individuals with tetraplegia is shown, as the system can be used both when the user is sitting in the wheelchair and when the user is e.g. lying in bed. Future work will include incorporating semi-automation and testing with more subjects.