NRI: Adaptive Teleoperation Interfaces for In-Home Assistive Robots

NRI：家用辅助机器人的自适应远程操作接口

• 批准号: 10671139
• 负责人: Maya Cakmak
• 金额: $ 17.97万
• 依托单位: UNIVERSITY OF WASHINGTON
• 依托单位国家: 美国
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-09-06 至 2026-08-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10671139
• 关键词: Activities of Daily Living; Algorithms; Automation; Caregivers; Computer software; Development; Ensure; Environment; Evaluation; Face; Goals; Guidelines; Home; Home environment; Implant; Independent Living; Literature; Manuals; Maps; Measurement; Measures; Motor; Occupational Therapist; Output; Persons; Phase; Research; Robot; Safety; Stretching; System; Systems Integration; Variant; Work; aging population; assistive robot; automated algorithm; caregiving; cost; disability; functional independence; instrument; light weight; open source; operation; preference; remote health care; robot assistance; robot control; teleoperation; usability

Mobile manipulators that can navigate and physically interact with their environment have the potential to assist people with motor limitations in carrying out activities of daily living independently. Despite this great potential, robots that can be safely deployed in the homes of these users do not yet exist. Until recently one of the key reasons for this gap was the lack of available hardware platforms, but the release of Stretch – a new low-cost, light-weight, inherently safe, and highly capable mobile manipulator – has greatly reduced the barrier to in-home deployments. A second key reason is the difficulty of robust autonomy given the vast variations across home environment. A practical, near-term solution is to have robots teleoperated by the user, which is also preferred by users in the target group who want to keep control over the robot. However, most existing teleoperations interfaces are not accessible to users with motor limitations who might have restricted input. This project aims to tackle this challenge by developing new systems and algorithms that enable adaptive accessible teleoperation interfaces for mobile manipulators. The ability to adapt to the unique requirements and preferences of these users while enabling the safest and most efficient operation of the robot is critical to our proposed solution. The project involves the development of an integrated system called AccessTeleopKit implanted on the Stretch robot platform, and shared as open-source software. New algorithms for automatically customizing interfaces in AccessTeleopKit based on user input ability assessment, and automating repetitive parts of common tasks from user demonstrations as they teleoperate the robot will be developed. Contributions also include conceptual frameworks to represent teleoperation interfaces as mappings between user inputs and robot control outputs with Finite State Machines; and the heuristically assessing the accessibility of a teleoperation interface for users with different abilities. Evaluation will involve user studies and multi-phase long-term deployments of the robots in five homes facilitated by occupational therapists and will contribute new empirical findings about the usability, utility, and acceptance of assistance robots in the home. New guidelines for occupational therapists to use teleoperated robots in their practice will also be created.

移动的机械手，可以导航和物理交互与他们的环境有潜力， 协助运动障碍人士独立进行日常生活活动。尽管如此 虽然潜力巨大，但目前还不存在可以安全地部署在这些用户家中的机器人。直到 最近，造成这种差距的主要原因之一是缺乏可用的硬件平台， Stretch -一种新的低成本，重量轻，本质安全，功能强大的移动的机械手-已经 大大降低了家庭部署的障碍。第二个关键原因是， 家庭环境的巨大差异。一个实用的短期解决方案是， 由用户遥控的机器人，这也是目标群体中希望保持 控制机器人。然而，大多数现有的远程操作接口对于具有远程操作的用户是不可访问的。 运动受限的人可能会限制输入。该项目旨在通过开发 新的系统和算法，使自适应可访问的远程操作接口的移动的 操纵者能够适应这些用户的独特要求和偏好， 实现机器人的最安全和最有效的操作对我们提出的解决方案至关重要。 该项目涉及开发一个名为TeleopKit的集成系统， 伸展机器人平台，并作为开源软件共享。新算法自动 基于用户输入能力评估，在TeleopKit中定制接口， 当用户远程操作机器人时，用户演示中常见任务的重复部分将 开发贡献还包括概念框架，以表示远程操作接口， 使用有限状态机在用户输入和机器人控制输出之间进行映射; 评估具有不同能力的用户的遥操作接口的可访问性。评价将 涉及用户研究和机器人在五个家庭的多阶段长期部署， 职业治疗师，并将贡献新的经验发现的可用性，效用， 在家中使用辅助机器人。职业治疗师使用新指引 还将创造出实践中的遥控机器人。