Applied Bionics and Biomechanics

Applied Bionics and Biomechanics / 2011 / Article
Special Issue

Assistive and Rehabilitation Robotics

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Open Access

Volume 8 |Article ID 698079 |

Katherine M. Tsui, Dae-Jin Kim, Aman Behal, David Kontak, Holly A. Yanco, "“I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm", Applied Bionics and Biomechanics, vol. 8, Article ID 698079, 21 pages, 2011.

“I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm


Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.

Copyright © 2011 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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