Eye-gaze control of a wheelchair mounted 6DOF assistive robot for activities of daily living

Journal of NeuroEngineering and Rehabilitation

Katie Schultz¹  Sheikh Iqbal Ahamed²  Md Ishrak Islam Zarif²  Ivan Rulik³  Md Samiul Haque Sunny³  Brahim Brahmi⁴  Inga Wang⁵  Mohammad Habibur Rahman⁶  Javier Sanjuan⁶ 

[1]Clement J. Zablocki VA Medical Center, 53295, Milwaukee, WI, USA

[2]Department of Computer Science, Marquette University, 53233, Milwaukee, WI, USA

[3]Department of Computer Science, University of Wisconsin-Milwaukee, 53211, Milwaukee, WI, USA

[4]Department of Electrical and Computer Engineering, Miami University, 45056, Oxford, OH, USA

[5]Department of Rehabilitation Sciences and Technology, University of Wisconsin-Milwaukee, 53211, Milwaukee, WI, USA

[6]Mechanical Engineering Department, University of Wisconsin-Milwaukee, 53211, Milwaukee, WI, USA

关键词: Assistive robot;    6DoF;    Eye-gaze control;    Wheelchair;    Motor dysfunction;    Wheelchair mounted robot;    Activities of daily living;   

DOI  :  10.1186/s12984-021-00969-2

来源: Springer

【 摘 要 】

BackgroundBuilding control architecture that balances the assistive manipulation systems with the benefits of direct human control is a crucial challenge of human–robot collaboration. It promises to help people with disabilities more efficiently control wheelchair and wheelchair-mounted robot arms to accomplish activities of daily living.MethodsIn this study, our research objective is to design an eye-tracking assistive robot control system capable of providing targeted engagement and motivating individuals with a disability to use the developed method for self-assistance activities of daily living. The graphical user interface is designed and integrated with the developed control architecture to achieve the goal.ResultsWe evaluated the system by conducting a user study. Ten healthy participants performed five trials of three manipulation tasks using the graphical user interface and the developed control framework. The 100% success rate on task performance demonstrates the effectiveness of our system for individuals with motor impairments to control wheelchair and wheelchair-mounted assistive robotic manipulators.ConclusionsWe demonstrated the usability of using this eye-gaze system to control a robotic arm mounted on a wheelchair in activities of daily living for people with disabilities. We found high levels of acceptance with higher ratings in the evaluation of the system with healthy participants.

【 授权许可】

CC BY