Remote Tongue-based Control of a Wheelchair Mounted Assistive Robotic Manipulator and the Effect of Adaptive Semi-automation

Increasing the independence of individuals with tetraplegia is a challenging task. One potential solution is to allow for use of an assistive robotic manipulator (ARM), when solving tasks in personal and remote space. There is a lack in available control interfaces that are suitable for severely disabled individuals. The aim of this paper is twofold: to allow for remote tongue-based control of an ARM and, to study the effect of semiautomation when compared with full manual control of an ARM. Ten able-bodied individuals participated in a two-day experiment where they were asked to drive a wheelchair mounted ARM away from the participant and out of sight. Thereafter, they should either pick up a strawberry or a bottle from a table. All the participants successfully finished three trials for three different control methods: 1) manual control (MA), 2) adaptive level semiautomation (SA), and 3) fixed level semi-automation (FA). The data was analyzed using repeated measures analysis of variance. When grasping the strawberry, there was a significant decrease in the gripping time (60.16±9.13 vs. 90.62±10.06, p = 0.012) and number of used commands (0.73±0.07 vs. 0.86±0.09, p = 0.03) when using FA compared to MA. When grasping the bottle, the SA showed a significant reduction in gripping time (32.30±3.09 vs. 66.15±9.77, p = 0.022) and number of used commands (0.63±0.05 vs. 0.85±0.09, p<0.001) compared with MA.