Assistive Mobile Manipulation : Designing for Operators with Motor Impairments Phillip
Assistive Mobile Manipulation : Designing for Operators with Motor Impairments Phillip
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辅助移动操作：为有运动障碍的操作员设计 Phillip
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
C. Kemp
中科院分区：
文献类型：
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作者：
M. Grice;C. Kemp
有严重运动障碍的个人可以操作移动的机械手，以帮助日常生活活动。然而，相对较少的注意力已经给出了设计这些系统的明确目标，减少操作员的工作量和增加可用性。这对于由于运动障碍而导致输入带宽有限的操作员尤其重要。为了应对这一挑战，我们定期与亨利埃文斯，一个有严重运动障碍的人，和简，他的妻子和主要照顾者。在他们的合作下，我们开发了一种辅助机器人系统，可以通过现代网络浏览器和单键鼠标或同等设备进行远程操作。这增加了已经使用辅助性人机界面的运动障碍者的可及性。我们的系统使用以视频为中心的方法来降低复杂性，提供清晰，易于切换的交互模式，并允许使用任务级规划和任务相关的撤销。我们通过亨利埃文斯进行的动作研究手臂测试（ARAT），操作能力的临床测试，通过远程操作进行了初步评估。在本评价中，相对于亨利自身的能力，该系统提供了临床显著改善。
Individuals with severe motor impairments can operate mobile manipulators for physical assistance with activities of daily living. However, relatively little attention has been given to designing these systems with the explicit aim of reducing operator workload and increasing usability. This is especially important for operators with limited input bandwidth as a result of motor impairments. To address this challenge, we have worked regularly with Henry Evans, an individual with severe motor impairments, and Jane, his wife and primary caregiver. With their collaboration, we have developed an assistive robotic system that can be teleoperated via a modern web browser and a single-button mouse or equivalent. This increases accessibility for individuals with motor impairments already using assistive Human-Computer Interfaces. Our system uses a video-centric approach to reduce complexity, provides clear, easily switchable modes of interaction, and enables the use of task-level planning and task-relevant undo. We performed a preliminary evaluation of this system via remote operation by Henry Evans performing the Action Research Arm Test (ARAT), a clinical test for manipulation capability. In this evaluation, the system provided a clinically significant improvement relative to Henry’s own capability.