An Exploration of Accessible Remote Tele-operation for Assistive Mobile Manipulators in the Home
An Exploration of Accessible Remote Tele-operation for Assistive Mobile Manipulators in the Home
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DOI：
10.1109/ro-man50785.2021.9515511
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发表时间：
2021-08
期刊：
影响因子：
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通讯作者：
M. E. Cabrera;T. Bhattacharjee;Kavi Dey;M. Cakmak
中科院分区：
文献类型：
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作者：
M. E. Cabrera;T. Bhattacharjee;Kavi Dey;M. Cakmak
新的移动的机械手平台，如Hello Robot Stretch，使长期在家机器人辅助的想法变得可行。然而，这种机器人在非结构化、高度变化的环境中的现有自主能力仍然不可用。相反，使用具有人类远程操作的机器人可以产生巨大的直接影响。为了让这些机器人服务于最需要它们的人群，它们的界面需要对行动不便的人开放。在本文中，我们探讨了实用性，可用性和可访问性的远程操作伸展机器人在家里。我们首先描述了一个基于浏览器的界面，用于控制拉伸机器人设计的可访问性。然后，我们提出了一项研究（N=18）的结果，其中参与者使用界面远程控制机器人在厨房中执行现实的任务，证明了远程操作的援助的可行性，并揭示了挑战和机遇。接下来，我们提出了一个研究与个人的移动性限制（N=3）确定额外的可访问性要求的接口。这两项研究的参与者都同意机器人的实用性，尽管目前存在限制。
New mobile manipulator platforms, like the Hello Robot Stretch, have made the idea of long-term in-home robotic assistance feasible. However, existing autonomous capabilities for such robots in unstructured, highly-varied environments are still not available. Instead, using robots with human tele-operation can have huge immediate impact. For these robots to serve populations that need them the most, their interfaces need to be accessible to people with mobility limitations. In this paper we explore the utility, usability, and accessibility of a tele-operated Stretch robot in the home. We first describe a browser-based interface for controlling the Stretch robot designed with accessibility in mind. We then present findings from a study (N=18) in which participants used the interface to remotely control the robot to perform realistic tasks in a kitchen, demonstrating the feasibility of tele-operated assistance and revealing challenges and opportunities. Next, we present a study with individuals with mobility limitations (N=3) identifying additional accessibility requirements for the interface. Participants in both studies agree to the utility of the robot despite current limitations.