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
Publication dateJun 2019
Article number8779434
ISBN (Electronic)9781728127552
Publication statusPublished - Jun 2019
EventInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019) - Toronto, Canada
Duration: 24 Jun 201928 Jun 2019


ConferenceInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019)
SeriesI E E E International Conference on Rehabilitation Robotics. Proceedings


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