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

Max Hildebrand, Frederik Bonde, Rasmus Vedel Nonboe Kobborg, Christian Andersen, Andreas Flem Norman, Mikkel Thøgersen, Stefan Hein Bengtson, Strahinja Dosen, Lotte N. S. Andreasen Struijk

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

7 Citations (Scopus)


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.

Original languageEnglish
Title of host publication2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
Number of pages6
Publication date1 Jun 2019
ISBN (Print)978-1-7281-2756-9
ISBN (Electronic)978-1-7281-2755-2
Publication statusPublished - 1 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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