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

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

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.
OriginalsprogEngelsk
Titel2019 IEEE International Conference on Mechatronics and Automation (ICMA)
Antal sider5
ForlagIEEE
Publikationsdatoaug. 2019
Sider1300-1304
Artikelnummer8816415
ISBN (Trykt)978-1-7281-1698-3
ISBN (Elektronisk)978-1-7281-1699-0
DOI
StatusUdgivet - aug. 2019
BegivenhedIEEE International Conference on Mechatronics and Automation (ICMA) - Tianjin, Kina
Varighed: 4 aug. 20197 aug. 2019

Konference

KonferenceIEEE International Conference on Mechatronics and Automation (ICMA)
LandKina
ByTianjin
Periode04/08/201907/08/2019
NavnIEEE International Conference on Mechatronics and Automation (ICMA)
ISSN2152-744X

Fingerprint

Robotic arms
Wheelchairs
Bottles
Interfaces (computer)
Sand
Automation
Feedback

Citer dette

Pálsdóttir, Á. A., Dosen, S., Mohammadi, M., & Struijk, L. N. S. A. (2019). Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study. I 2019 IEEE International Conference on Mechatronics and Automation (ICMA) (s. 1300-1304). [8816415] IEEE. IEEE International Conference on Mechatronics and Automation (ICMA) https://doi.org/10.1109/ICMA.2019.8816415
Pálsdóttir, Ásgerdur Arna ; Dosen, Strahinja ; Mohammadi, Mostafa ; Struijk, Lotte N. S. Andreasen. / Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study. 2019 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE, 2019. s. 1300-1304 (IEEE International Conference on Mechatronics and Automation (ICMA)).
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title = "Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study",
abstract = "Assistive robotic arms (ARM) have the potential tomake individuals with tetraplegia more independent by enablingthem to perform physical activities. Usually the ARMs are usedwithin reach of the user while the user is sitting in a poweredwheelchair. In this proof of concept study, we demonstrated forthe first time a tongue based method to provide an individualwith tetraplegia the ability to fetch remote objects such asbeverages while being bedridden. This is done through tonguebasedcontrol of a mobile and remote assistive roboticmanipulator (ARM) which was mounted on a poweredwheelchair. The tongue-computer interface was used by twosubjects to remotely navigate an ARM carrying wheelchairtowards a table and control the ARM to pick up a bottle of waterplaced on the table. The subjects were given approximately 40min to become familiar with the system and then they performedthe task 10 times. Subject 1 succeeded the task in 9 out of 10 trialsand subject 2 in 8 out of 10 trials. The trials lasted for 132±38 sand 195±64 s for subject 1 and 2, respectively. Thus, the systemhas the potential to further empower individuals with tetraplegiaby enabling them to remotely pick-up objects when e.g. lying inbed, making them more independent and reducing the need forcare. Future work will include further development of thesystem (better feedback, semi automation) as well asexperimental assessment with more subjects and tasks.",
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Pálsdóttir, ÁA, Dosen, S, Mohammadi, M & Struijk, LNSA 2019, Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study. i 2019 IEEE International Conference on Mechatronics and Automation (ICMA)., 8816415, IEEE, IEEE International Conference on Mechatronics and Automation (ICMA), s. 1300-1304, IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, Kina, 04/08/2019. https://doi.org/10.1109/ICMA.2019.8816415

Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study. / Pálsdóttir, Ásgerdur Arna; Dosen, Strahinja; Mohammadi, Mostafa; Struijk, Lotte N. S. Andreasen.

2019 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE, 2019. s. 1300-1304 8816415 (IEEE International Conference on Mechatronics and Automation (ICMA)).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

TY - GEN

T1 - Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study

AU - Pálsdóttir, Ásgerdur Arna

AU - Dosen, Strahinja

AU - Mohammadi, Mostafa

AU - Struijk, Lotte N. S. Andreasen

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N2 - Assistive robotic arms (ARM) have the potential tomake individuals with tetraplegia more independent by enablingthem to perform physical activities. Usually the ARMs are usedwithin reach of the user while the user is sitting in a poweredwheelchair. In this proof of concept study, we demonstrated forthe first time a tongue based method to provide an individualwith tetraplegia the ability to fetch remote objects such asbeverages while being bedridden. This is done through tonguebasedcontrol of a mobile and remote assistive roboticmanipulator (ARM) which was mounted on a poweredwheelchair. The tongue-computer interface was used by twosubjects to remotely navigate an ARM carrying wheelchairtowards a table and control the ARM to pick up a bottle of waterplaced on the table. The subjects were given approximately 40min to become familiar with the system and then they performedthe task 10 times. Subject 1 succeeded the task in 9 out of 10 trialsand subject 2 in 8 out of 10 trials. The trials lasted for 132±38 sand 195±64 s for subject 1 and 2, respectively. Thus, the systemhas the potential to further empower individuals with tetraplegiaby enabling them to remotely pick-up objects when e.g. lying inbed, making them more independent and reducing the need forcare. Future work will include further development of thesystem (better feedback, semi automation) as well asexperimental assessment with more subjects and tasks.

AB - Assistive robotic arms (ARM) have the potential tomake individuals with tetraplegia more independent by enablingthem to perform physical activities. Usually the ARMs are usedwithin reach of the user while the user is sitting in a poweredwheelchair. In this proof of concept study, we demonstrated forthe first time a tongue based method to provide an individualwith tetraplegia the ability to fetch remote objects such asbeverages while being bedridden. This is done through tonguebasedcontrol of a mobile and remote assistive roboticmanipulator (ARM) which was mounted on a poweredwheelchair. The tongue-computer interface was used by twosubjects to remotely navigate an ARM carrying wheelchairtowards a table and control the ARM to pick up a bottle of waterplaced on the table. The subjects were given approximately 40min to become familiar with the system and then they performedthe task 10 times. Subject 1 succeeded the task in 9 out of 10 trialsand subject 2 in 8 out of 10 trials. The trials lasted for 132±38 sand 195±64 s for subject 1 and 2, respectively. Thus, the systemhas the potential to further empower individuals with tetraplegiaby enabling them to remotely pick-up objects when e.g. lying inbed, making them more independent and reducing the need forcare. Future work will include further development of thesystem (better feedback, semi automation) as well asexperimental assessment with more subjects and tasks.

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DO - 10.1109/ICMA.2019.8816415

M3 - Article in proceeding

SN - 978-1-7281-1698-3

T3 - IEEE International Conference on Mechatronics and Automation (ICMA)

SP - 1300

EP - 1304

BT - 2019 IEEE International Conference on Mechatronics and Automation (ICMA)

PB - IEEE

ER -

Pálsdóttir ÁA, Dosen S, Mohammadi M, Struijk LNSA. Remote Tongue Based Control of a Wheelchair Mounted Assistive Robotic Arm – a proof of concept study. I 2019 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE. 2019. s. 1300-1304. 8816415. (IEEE International Conference on Mechatronics and Automation (ICMA)). https://doi.org/10.1109/ICMA.2019.8816415