Usability Studies of an Egocentric Vision-Based Robotic Wheelchair
Usability Studies of an Egocentric Vision-Based Robotic Wheelchair
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DOI：
10.1145/3399434
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发表时间：
2020-10-01
影响因子：
5.1
通讯作者：
Mordohai, Philippos
中科院分区：
文献类型：
--
作者：
Kutbi, Mohammed;Du, Xiaoxue;Mordohai, Philippos
为了提高依赖轮椅出行的老年人和残疾人的生活质量，我们提出了一种以自我为中心的计算机视觉协同机器人轮椅，以提高他们的移动性，而不需要使用手。该机器人是使用商业上可用的电动轮椅制造的，改装后可以通过头部运动来控制。头部运动是通过跟踪安装在用户头部并面向外的以自我为中心的摄像头来测量的。与以前的免手移动方法相比，我们的系统提供了更自然的人类机器人界面，因为它使用户能够以连续的方式控制运动的速度和方向，而不是提供少量的离散命令。这篇文章介绍了三项可用性研究，对37名受试者进行了研究。前两项可用性研究侧重于将拟议的控制方法与现有解决方案进行比较，而第三项研究是为了评估训练对象在几个课程中操作轮椅的有效性。我们研究的一个局限性是，他们是在健康的参与者中进行的。然而，我们的发现为进一步研究残障人士铺平了道路。
Motivated by the need to improve the quality of life for the elderly and disabled individuals who rely on wheelchairs for mobility, and who may have limited or no hand functionality at all, we propose an egocentric computer vision based co-robot wheelchair to enhance their mobility without hand usage. The robot is built using a commercially available powered wheelchair modified to be controlled by head motion. Head motion is measured by tracking an egocentric camera mounted on the user's head and faces outward. Compared with previous approaches to hands-free mobility, our system provides a more natural human robot interface because it enables the user to control the speed and direction of motion in a continuous fashion, as opposed to providing a small number of discrete commands. This article presents three usability studies, which were conducted on 37 subjects. The first two usability studies focus on comparing the proposed control method with existing solutions while the third study was conducted to assess the effectiveness of training subjects to operate the wheelchair over several sessions. A limitation of our studies is that they have been conducted with healthy participants. Our findings, however, pave the way for further studies with subjects with disabilities.