Development of Smartphone-Based Human-Robot Interfaces for Individuals With Disabilities

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 ope...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-10, Vol.5 (4), p.5835-5841
Main Authors: Wu, Lei, Alqasemi, Redwan, Dubey, Rajiv
Format: Article
Language:English
Subjects:
Accelerometers
Activities of daily living
Cartesian coordinates
Gyroscopes
Human-robot interface
Man-machine interfaces
Manipulators
People with disabilities
Robot arms
Robot control
Robot dynamics
Robot kinematics
Robot sensing systems
Robotics
Robots
Smart phones
Smartphones
Task analysis
telerobotics and teleoperation
Touch screens
Touch sensitive screens
User interfaces
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Summary: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.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.3010453