Resumé

Assistive robotic arms have shown the potential
to improve the quality of life of people with severe disabilities.
However, a high performance and intuitive control interface
for robots with 6-7 DOFs is still missing for these individuals.
An inductive tongue computer interface (ITCI) was recently
tested for control of robots and the study illustrated potential
in this field. The paper describes the investigation of the
possibility of developing a high performance tongue based
joystick-like controller for robots through two studies. The
first compared different methods for mapping the 18 sensor
signals to a 2D coordinate, as a touchpad. The second evaluated
the performance of a novel approach for emulating an analog
joystick by the ITCI based on the ISO9241-411 standard.
Two subjects performed a multi-directional tapping test using
a standard analog joystick, the ITCI system held in hand
and operated by the other hand, and finally by tongue when
mounted inside the mouth. Throughput was measured as the
evaluation parameter. The results show that the contact on
the touchpads can be localized by almost 1 mm accuracy. The
throughput of ITCI system for the multi-directional tapping test
was 0.82 bps while keeping it in the hand and 0.73 bps when
using it inside the mouth, comparing to 1.99 bps throughput
of the analog joystick.
OriginalsprogEngelsk
Publikationsdatojun. 2019
Antal sider6
StatusUdgivet - jun. 2019
BegivenhedInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019) - Toronto, Canada
Varighed: 24 jun. 201928 jun. 2019

Konference

KonferenceInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019)
LandCanada
ByToronto
Periode24/06/201928/06/2019

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Interfaces (computer)
Robots
Robotic arms
Throughput
Controllers

Citer dette

@conference{95b0f39967854722bfd57906ebe1a94c,
title = "A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities",
abstract = "Assistive robotic arms have shown the potentialto improve the quality of life of people with severe disabilities.However, a high performance and intuitive control interfacefor robots with 6-7 DOFs is still missing for these individuals.An inductive tongue computer interface (ITCI) was recentlytested for control of robots and the study illustrated potentialin this field. The paper describes the investigation of thepossibility of developing a high performance tongue basedjoystick-like controller for robots through two studies. Thefirst compared different methods for mapping the 18 sensorsignals to a 2D coordinate, as a touchpad. The second evaluatedthe performance of a novel approach for emulating an analogjoystick by the ITCI based on the ISO9241-411 standard.Two subjects performed a multi-directional tapping test usinga standard analog joystick, the ITCI system held in handand operated by the other hand, and finally by tongue whenmounted inside the mouth. Throughput was measured as theevaluation parameter. The results show that the contact onthe touchpads can be localized by almost 1 mm accuracy. Thethroughput of ITCI system for the multi-directional tapping testwas 0.82 bps while keeping it in the hand and 0.73 bps whenusing it inside the mouth, comparing to 1.99 bps throughputof the analog joystick.",
author = "Mostafa Mohammadi and Hendrik Knoche and Michael Gaihede and Bo Bentsen and Struijk, {Lotte N. S. Andreasen}",
year = "2019",
month = "6",
language = "English",
note = "null ; Conference date: 24-06-2019 Through 28-06-2019",

}

Mohammadi, M, Knoche, H, Gaihede, M, Bentsen, B & Struijk, LNSA 2019, 'A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities' International Conference on Rehabilitation Robotics 2019 (ICORR 2019), Toronto, Canada, 24/06/2019 - 28/06/2019, .

A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities. / Mohammadi, Mostafa; Knoche, Hendrik; Gaihede, Michael; Bentsen, Bo; Struijk, Lotte N. S. Andreasen.

2019. Abstract fra International Conference on Rehabilitation Robotics 2019 (ICORR 2019), Toronto, Canada.

Publikation: Konferencebidrag uden forlag/tidsskriftKonferenceabstrakt til konferenceForskningpeer review

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T1 - A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities

AU - Mohammadi, Mostafa

AU - Knoche, Hendrik

AU - Gaihede, Michael

AU - Bentsen, Bo

AU - Struijk, Lotte N. S. Andreasen

PY - 2019/6

Y1 - 2019/6

N2 - Assistive robotic arms have shown the potentialto improve the quality of life of people with severe disabilities.However, a high performance and intuitive control interfacefor robots with 6-7 DOFs is still missing for these individuals.An inductive tongue computer interface (ITCI) was recentlytested for control of robots and the study illustrated potentialin this field. The paper describes the investigation of thepossibility of developing a high performance tongue basedjoystick-like controller for robots through two studies. Thefirst compared different methods for mapping the 18 sensorsignals to a 2D coordinate, as a touchpad. The second evaluatedthe performance of a novel approach for emulating an analogjoystick by the ITCI based on the ISO9241-411 standard.Two subjects performed a multi-directional tapping test usinga standard analog joystick, the ITCI system held in handand operated by the other hand, and finally by tongue whenmounted inside the mouth. Throughput was measured as theevaluation parameter. The results show that the contact onthe touchpads can be localized by almost 1 mm accuracy. Thethroughput of ITCI system for the multi-directional tapping testwas 0.82 bps while keeping it in the hand and 0.73 bps whenusing it inside the mouth, comparing to 1.99 bps throughputof the analog joystick.

AB - Assistive robotic arms have shown the potentialto improve the quality of life of people with severe disabilities.However, a high performance and intuitive control interfacefor robots with 6-7 DOFs is still missing for these individuals.An inductive tongue computer interface (ITCI) was recentlytested for control of robots and the study illustrated potentialin this field. The paper describes the investigation of thepossibility of developing a high performance tongue basedjoystick-like controller for robots through two studies. Thefirst compared different methods for mapping the 18 sensorsignals to a 2D coordinate, as a touchpad. The second evaluatedthe performance of a novel approach for emulating an analogjoystick by the ITCI based on the ISO9241-411 standard.Two subjects performed a multi-directional tapping test usinga standard analog joystick, the ITCI system held in handand operated by the other hand, and finally by tongue whenmounted inside the mouth. Throughput was measured as theevaluation parameter. The results show that the contact onthe touchpads can be localized by almost 1 mm accuracy. Thethroughput of ITCI system for the multi-directional tapping testwas 0.82 bps while keeping it in the hand and 0.73 bps whenusing it inside the mouth, comparing to 1.99 bps throughputof the analog joystick.

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M3 - Conference abstract for conference

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Mohammadi M, Knoche H, Gaihede M, Bentsen B, Struijk LNSA. A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities. 2019. Abstract fra International Conference on Rehabilitation Robotics 2019 (ICORR 2019), Toronto, Canada.