Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study

Pascher, Max; Baumeister, A; Schneegaß, Stefan; Klein, Barbara; Gerken, Jens

doi:10.1007/978-3-030-85623-6_21

Cited by 11 publications

(6 citation statements)

References 40 publications

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“…Assistive robotic arms can enhance the independence of individuals with restricted mobility [15,21]. These technologies -particularly when integrated with Artificial Intelligence (AI) -empower individuals to perform Activities of Daily Living (ADLs), which often entail tasks like gripping and manipulating objects in their surroundings, without reliance on human assistance [24].…”

Section: Introductionmentioning

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: Introductionmentioning

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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“…The applications of robots are manifold, significantly increasing human capabilities and efficiency [46]. While robots come in many forms, robotic arms in particular have been shown to be suitable for and adaptable to different use cases, such as production lines [15] and domestic care [96]. Here, they are known as cobots who support their users in Activities of Daily Living (ADLs), such as eating and drinking, grooming, or activities associated with leisure time.…”

Section: Introductionmentioning

confidence: 99%

How to Communicate Robot Motion Intent: A Scoping Review

Pascher

Gruenefeld

Schneegaß

et al. 2023

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

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a) Motion [120] (b) Attention [67] (c) State [117] (d) Instruction [128] Fig. 1. (a) Robot motion intent: The robot communicates its intended motion (e.g., a trajectory of the robot's intended movement path is visualized in Augmented Reality [120]). Furthermore, our analysis revealed three additional types of intent that complement robot motion intents. (b) Attention: A robot aims to catch the user's attention for subsequent movement activity (e.g., by moving its whole body [67]). (c) State: A robot communicates its state so that a human can predict future motions and identify potential conflicts before they occur (e.g., the robot communicates its movement activity with the help of a colored LED stripe [117]). (d) Instruction: The robot aims to provide specific instructions so that the human can assist further movement (e.g., by requesting to open a door [128]).Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and foster collaboration. Finding effective ways to communicate this intent to users has recently received increased research interest. However, no common language has been established to systematize robot motion intent. This work presents a scoping review aimed at unifying existing knowledge.Based on our analysis, we present an intent communication model that depicts the relationship between robot and human through different intent dimensions (intent type, intent information, intent location). We discuss these different intent dimensions and their interrelationships with different kinds of robots and human roles. Throughout our analysis, we classify the existing research literature along our intent communication model, allowing us to identify key patterns and possible directions for future research.

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“…Robotic arms as assistive technologies are a powerful tool to increase self-sufficiency in people with limited mobility [32,42], as they facilitate the performance of Activities of Daily Living (ADLs) ś usually involving grasping and manipulating objects in their environment ś without human assistance [47]. However, a frequent point of contention is the assistive robot's autonomy level.…”

Section: Introductionmentioning

confidence: 99%

“…It also makes the integration of visualization feedback or different input modalities easier to explore and test, while a Robot Operating System (ROS) interface allows the direct transfer to the real robot. Testing new interaction and control options becomes much less time-consuming while simultaneously excluding potentially dangerous close-contact situations with users before glitches are managed [42]. In total, the framework facilitates the development and evaluation of assistive robot control applications in-silico and creates a practical and effective step between ideation, development, and evaluation, allowing HRI researchers more flexibility and facilitating efficient resource usage.…”

Section: Introductionmentioning

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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Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study

Cited by 11 publications

References 40 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

How to Communicate Robot Motion Intent: A Scoping Review

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

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