支援の手：拡張現実と舌操作インターフェースを用いた支援マニピュレーションフレームワーク
The Helping Hand: An Assistive Manipulation Framework Using Augmented Reality and a Tongue-Drive Interfaces
身体障害者向けに、拡張現実グラスと舌操作デバイスでロボットアームを直感的に操作する支援システムを提案し、従来の操作法より短時間でタスクを完了できることを示した。
著者: Fu-Jen Chu, Ruinian Xu, Zhenxuan Zhang, Patricio A. Vela, Maysam Ghovanloo
分類: cs.RO
原文アブストラクト
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework obtains high-level intent from the user to specify manipulation tasks. The system processes sensor input to interpret the user's environment. Augmented reality glasses provide ego-centric visual feedback of the interpretation and summarize robot affordances on a menu. A tongue drive system serves as the input modality for triggering a robotic arm to execute the tasks. Assistance experiments compare the system to Cartesian control and to state-of-the-art approaches. Our system achieves competitive results with faster completion time by simplifying manipulation tasks.
