上肢障害者向け支援ロボットにおける適応的共有制御の評価
Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility
上肢に障害のある24名を対象に、3種類の入力デバイスを用いた適応的自由度制御の共有制御システムを日常タスクで評価し、高い成功率と肯定的なユーザー体験を確認した。
著者: Felix Ferdinand Goldau, Max Pascher, Annalies Baumeister, Patrizia Tolle, Jens Gerken, Udo Frese
分類: cs.HC, cs.AI, cs.RO
原文アブストラクト
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically tailored for individuals with upper limb impairments. It employs a between-subjects analysis with 24 participants, conducting 81 trials across three distinct input devices in a realistic everyday-task setting. Given the diverse capabilities of the vulnerable target demographic and the known challenges in statistical comparisons due to individual differences, the study focuses primarily on subjective qualitative data. The results reveal consistently high success rates in trial completions, irrespective of the input device used. Participants appreciated their involvement in the research process, displayed a positive outlook, and quick adaptability to the control system. Notably, each participant effectively managed the given task within a short time frame.
