Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching.
Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching.
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DOI：
10.1109/hri.2016.7451731
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发表时间：
2016-03
期刊：
影响因子：
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通讯作者：
Srinivasa SS
中科院分区：
文献类型：
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作者：
Herlant LV;Holladay RM;Srinivasa SS
辅助机械臂越来越多地使上肢残疾的用户能够自己完成日常生活活动。然而，手臂的能力和灵活性的提高也使它们难以用简单的低维界面（如操纵杆和吸吸界面）来控制。控制高维系统（如手臂）和低维输入（如操纵杆）的常见技术是通过在多种控制模式之间切换。然而，我们对日常使用Kinova JACO手臂的用户的采访发现，模式切换是一个关键问题，无论是在时间还是认知负荷方面。我们进一步客观地证实，即使对于身体健全的用户控制JACO，模式切换也会消耗约17.4%的执行时间。我们的关键观点是，即使使用一个简单的模式切换模型，比如时间最优性，以及一个简单的干预，比如自动切换模式，也能显著提高用户满意度。
Assistive robotic arms are increasingly enabling users with upper extremity disabilities to perform activities of daily living on their own. However, the increased capability and dexterity of the arms also makes them harder to control with simple, low-dimensional interfaces like joysticks and sip-and-puff interfaces. A common technique to control a high-dimensional system like an arm with a low-dimensional input like a joystick is through switching between multiple control modes. However, our interviews with daily users of the Kinova JACO arm identified mode switching as a key problem, both in terms of time and cognitive load. We further confirmed objectively that mode switching consumes about 17.4% of execution time even for able-bodied users controlling the JACO. Our key insight is that using even a simple model of mode switching, like time optimality, and a simple intervention, like automatically switching modes, significantly improves user satisfaction.