Development of Smartphone-Based Human-Robot Interfaces for Individuals With Disabilities
Development of Smartphone-Based Human-Robot Interfaces for Individuals With Disabilities
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DOI：
10.1109/lra.2020.3010453
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Dubey, Rajiv
中科院分区：
文献类型：
--
作者：
Wu, Lei;Alqasemi, Redwan;Dubey, Rajiv
残疾人经常依靠照顾者或家庭成员协助其日常生活活动。如果直观的用户界面设计用于简单的操作，机器人助手可以提供替代解决方案。当前的人机界面在用于复杂的日常生活活动（ADL）时仍然远远不能以直观的方式操作。在这个智能手机充满传感器的时代，例如加速度计，陀螺仪和精确的触摸屏，机器人控制可以与智能手机连接，以捕捉用户对机器人助手的预期操作。在这封信中，我们回顾了目前流行的人机界面，我们提出了三种新的人机智能手机为基础的接口来操作机器人手臂，以协助残疾人在他们的ADL任务。有用的智能手机数据，包括3维方向和2维触摸屏的位置，被用来作为控制变量的笛卡尔遥操作的机器人运动。在这封信中，我们提出了三个控制接口，他们在智能手机上实现控制机器人手臂，并使用三个接口的三个不同的ADL任务的结果之间的比较。开发的界面具有直观性、低成本和环境适应性。
Persons with disabilities often rely on caregivers or family members to assist in their daily living activities. Robotic assistants can provide an alternative solution if intuitive user interfaces are designed for simple operations. Current human-robot interfaces are still far from being able to operate in an intuitive way when used for complex activities of daily living (ADL). In this era of smartphones that are packed with sensors, such as accelerometers, gyroscopes and a precise touch screen, robot controls can be interfaced with smartphones to capture the user's intended operation of the robot assistant. In this letter, we review the current popular human-robot interfaces, and we present three novel human-robot smartphone-based interfaces to operate a robotic arm for assisting persons with disabilities in their ADL tasks. Useful smartphone data, including 3 dimensional orientation and 2 dimensional touchscreen positions, are used as control variables to the robot motion in Cartesian teleoperation. In this letter, we present the three control interfaces, their implementation on a smartphone to control a robotic arm, and a comparison between the results on using the three interfaces for three different ADL tasks. The developed interfaces provide intuitiveness, low cost, and environmental adaptability.