Resumé

Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. This was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. Three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO2 joystick control. The results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. The addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.

OriginalsprogEngelsk
Titel2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
Antal sider6
Vol/bind2019
ForlagIEEE
Publikationsdato1 jun. 2019
Sider157-162
ISBN (Elektronisk)978-1-7281-2755-2
DOI
StatusUdgivet - 1 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
NavnI E E E International Conference on Rehabilitation Robotics. Proceedings
Vol/bind16
ISSN1945-7898

Fingerprint

Manipulators
Robotics
End effectors
Manual control
Degrees of freedom (mechanics)
Computer vision
Automation
Cameras

Citer dette

Hildebrand, M., Bonde, F., Kobborg, R. V. N., Andersen, C., Norman, A. F., Thøgersen, M., ... Struijk, L. N. S. A. (2019). Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia. I 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) (Bind 2019, s. 157-162). IEEE. I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind. 16 https://doi.org/10.1109/ICORR.2019.8779457
Hildebrand, Max ; Bonde, Frederik ; Kobborg, Rasmus Vedel Nonboe ; Andersen, Christian ; Norman, Andreas Flem ; Thøgersen, Mikkel ; Bengtson, Stefan Hein ; Dosen, Strahinja ; Struijk, Lotte N. S. Andreasen. / Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). Bind 2019 IEEE, 2019. s. 157-162 (I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind 16).
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title = "Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia",
abstract = "Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. This was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. Three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO2 joystick control. The results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. The addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.",
author = "Max Hildebrand and Frederik Bonde and Kobborg, {Rasmus Vedel Nonboe} and Christian Andersen and Norman, {Andreas Flem} and Mikkel Th{\o}gersen and Bengtson, {Stefan Hein} and Strahinja Dosen and Struijk, {Lotte N. S. Andreasen}",
year = "2019",
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doi = "10.1109/ICORR.2019.8779457",
language = "English",
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series = "I E E E International Conference on Rehabilitation Robotics. Proceedings",
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Hildebrand, M, Bonde, F, Kobborg, RVN, Andersen, C, Norman, AF, Thøgersen, M, Bengtson, SH, Dosen, S & Struijk, LNSA 2019, Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia. i 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). bind 2019, IEEE, I E E E International Conference on Rehabilitation Robotics. Proceedings, bind 16, s. 157-162, International Conference on Rehabilitation Robotics 2019 (ICORR 2019), Toronto, Canada, 24/06/2019. https://doi.org/10.1109/ICORR.2019.8779457

Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia. / Hildebrand, Max; Bonde, Frederik; Kobborg, Rasmus Vedel Nonboe; Andersen, Christian; Norman, Andreas Flem; Thøgersen, Mikkel; Bengtson, Stefan Hein; Dosen, Strahinja; Struijk, Lotte N. S. Andreasen.

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). Bind 2019 IEEE, 2019. s. 157-162 (I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind 16).

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

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T1 - Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia

AU - Hildebrand, Max

AU - Bonde, Frederik

AU - Kobborg, Rasmus Vedel Nonboe

AU - Andersen, Christian

AU - Norman, Andreas Flem

AU - Thøgersen, Mikkel

AU - Bengtson, Stefan Hein

AU - Dosen, Strahinja

AU - Struijk, Lotte N. S. Andreasen

PY - 2019/6/1

Y1 - 2019/6/1

N2 - Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. This was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. Three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO2 joystick control. The results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. The addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.

AB - Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. This was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. Three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO2 joystick control. The results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. The addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.

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Hildebrand M, Bonde F, Kobborg RVN, Andersen C, Norman AF, Thøgersen M et al. Semi-Autonomous Tongue-Control of an Assistive Robotic ARM for Individuals with Quadriplegia. I 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). Bind 2019. IEEE. 2019. s. 157-162. (I E E E International Conference on Rehabilitation Robotics. Proceedings, Bind 16). https://doi.org/10.1109/ICORR.2019.8779457