Adapt or Perish? Exploring the Effectiveness of Adaptive DoF Control Interaction Methods for Assistive Robot Arms

Kirill, Kronhardt,; Rübner, Stephan; Pascher, Max; Goldau, Felix Ferdinand; Frese, Udo; Gerken, Jens

doi:10.3390/technologies10010030

Cited by 9 publications

(3 citation statements)

References 38 publications

(40 reference statements)

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“…Prior studies [14,23] used a Meta Quest motion controller to interact with the AdaptiX framework. To add to this, we integrated a Nintendo Joy-Con [20], which is well suited for one-handed operation.…”

Section: Motion Controllermentioning

confidence: 99%

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

Pascher,

Zinta,

Gerken

2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to manage multiple Degrees-of-Freedom (DoFs) for tasks like grasping and manipulating objects. Conventional input devices, typically limited to two DoFs, necessitate frequent and complex mode switches to control individual DoFs. Modern adaptive controls with feed-forward multimodal feedback reduce the overall task completion time, number of mode switches, and cognitive load. Despite the variety of input devices available, their effectiveness in adaptive settings with assistive robotics has yet to be thoroughly assessed. This study explores three different input devices by integrating them into an established XR framework for assistive robotics, evaluating them and providing empirical insights through a preliminary study for future developments. CCS CONCEPTS• Computer systems organization → Robotic control; • Humancentered computing → Visualization techniques; Virtual reality.

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Section: Motion Controllermentioning

confidence: 99%

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

Pascher,

Zinta,

Gerken

2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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“…In an initial study [31], the AdaptiX framework was used to explore the proposed ADMC control method with associated visual cues for various DoF mappings.…”

Section: Example Adaption 1: Adaptive Control Of An Assistive Robotmentioning

confidence: 99%

AdaptiX - A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics

Pascher,

Goldau,

Kronhardt

et al. 2023

Preprint

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With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their widespread success is limited by usability issues, specifically the disparity between user input and software control along the autonomy continuum. To address this, shared control concepts provide opportunities to combine the targeted increase of user autonomy with a certain level of computer assistance. This paper presents the free and open-source AdaptiX XR framework for developing and evaluating shared control applications in a high-resolution simulation environment. The initial framework consists of a simulated robotic arm with an example scenario in Virtual Reality (VR), multiple standard control interfaces, and a specialized recording/replay system. AdaptiX can easily be extended for specific research needs, allowing Human-Robot Interaction (HRI) researchers to rapidly design and test novel interaction methods, intervention strategies, and multi-modal feedback techniques, without requiring an actual physical robotic arm during the early phases of ideation, prototyping, and evaluation. Also, a Robot Operating System (ROS) integration enables the controlling of a real robotic arm in a PhysicalTwin approach without any simulation-reality gap. Here, we review the capabilities and limitations of AdaptiX in detail and present three bodies of research based on the framework. AdaptiX can be accessed at https://adaptix.robot-research.de.

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“…Four scenarios were elaborated and decided on together. The simulation system consists of these scenarios along with detailed movements and manipulations (Kronhardt & Rübner et al 2022). The user controls the simulated robot's hand via a VR controller.…”

Section: Smart Speakers and Chatbots In Care Consultation -Evaluation...mentioning

confidence: 99%

Relationships between ICT use and subjective well-being among the oldest-old in Germany: Findings from the NRWBO+ study, older persons and the domestication of smart speakers

Kucharski¹,

Merkel²

2022

Gerontechnology

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Participants: A. Baumeister (GERMANY), J. Bleja (Germany), B. Klein (Germany), A. Kucharski (GERMANY) S. MERKEL (GERMANY), M. Ringwald (GERMANY), B. KLEIN (discussant) ISSUE: The session circles around new technologies that have gained increasing relevance for the field of gerontechnology. It follows the idea that these new technologies ask for new theories and methods not only to understand their technical functionality but also social aspects and consequences. Applying theories and methods of social sciences, sciences, and technology studies (STS) and media studies, the session follows an interdisciplinary approach. CONTENT: The symposium brings together research and evidence of the German speaking chapters of the ISG (Austria, Germany, and Switzerland) and covers a broad spectrum of recent developments. STRUCTURE: Alexander Kucharski shares insights from an exploratory study on the domestication of smart speakers by older persons in Germany. Drawing on seven case studies he explores perspectives of older smart speaker users on their real-world domestication processes of smart speakers to understand how older users negotiate(d) the appropriation, meaning and (non)-use of smart speakers and its contents/applications within their individual socio-technical contexts, i.e. life-worlds. Sebastian Merkel also deals with the topic of smart speakers by focusing on applications or so-called skills and images of ageing. He concludes that most skills addressed at older persons rather emphasize deficitoriented/medicalized images of aging and hence user representations. J. Bleja reports on the development of a chatbot operated via smart speakers for care consultation. As a first task expert interviews have been carried out.The results indicate potential use cases, support of the anamnesis procedure being one of them. In the next two contributions, the focus is on assistive robotics. Annalies Baumeister presents a project to improve the use of a robotic arm for people with little or no arm function by an adaptive AI-based control system. In Workshops and interviews with the user groups everyday scenarios were identified which can improve significantly by this new way of user-robot-interaction. Key factor for acceptance is the embodiment of robots. Marina Ringwald presents the interdisciplinary development of an embodiment utilizing participatory design with older people as potential user group. Design options are realized in 3D models in augmented reality and evaluated in an iterative approach before a physical prototype is produced. Finally, Barbara Klein addresses the need to train professionals in the health and social care sector in these assistive digital technologies by presenting a certification course developed by a consortium of twelve partner in a European project. The materials will help professionals learn about and further communicate new solutions to support the independence and self-determination of their clients and beneficiaries. CONCLUSION: Consequently, it is argued that gerontechnology benefits from a clo...

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Adapt or Perish? Exploring the Effectiveness of Adaptive DoF Control Interaction Methods for Assistive Robot Arms

Cited by 9 publications

References 38 publications

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

AdaptiX - A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics

Relationships between ICT use and subjective well-being among the oldest-old in Germany: Findings from the NRWBO+ study, older persons and the domestication of smart speakers

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