Abstract

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.
Original languageEnglish
Title of host publication2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
Number of pages6
PublisherIEEE
Publication dateJun 2019
DOIs
Publication statusPublished - Jun 2019
EventInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019) - Toronto, Canada
Duration: 24 Jun 201928 Jun 2019

Conference

ConferenceInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019)
CountryCanada
CityToronto
Period24/06/201928/06/2019
SeriesI E E E International Conference on Rehabilitation Robotics. Proceedings
ISSN1945-7898

Fingerprint

Interfaces (computer)
Robots
Robotic arms
Throughput
Controllers

Cite this

Mohammadi, M., Knoche, H., Gaihede, M., Bentsen, B., & Struijk, L. N. S. A. (2019). A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities. In 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) IEEE. I E E E International Conference on Rehabilitation Robotics. Proceedings https://doi.org/10.1109/ICORR.2019.8779434
Mohammadi, Mostafa ; Knoche, Hendrik ; Gaihede, Michael ; Bentsen, Bo ; Struijk, Lotte N. S. Andreasen. / A high-resolution tongue based joystick to enable robot control for individuals with severe disabilities. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE, 2019. (I E E E International Conference on Rehabilitation Robotics. Proceedings).
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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",
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series = "I E E E International Conference on Rehabilitation Robotics. Proceedings",
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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. in 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE, I E E E International Conference on Rehabilitation Robotics. Proceedings, International Conference on Rehabilitation Robotics 2019 (ICORR 2019), Toronto, Canada, 24/06/2019. https://doi.org/10.1109/ICORR.2019.8779434

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 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE, 2019. (I E E E International Conference on Rehabilitation Robotics. Proceedings).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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AU - Mohammadi, Mostafa

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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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PB - IEEE

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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. In 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). IEEE. 2019. (I E E E International Conference on Rehabilitation Robotics. Proceedings). https://doi.org/10.1109/ICORR.2019.8779434