Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments

Autor: Tiffany L. Chen, Charles C. Kemp, Chih-Hung King, Jonathan D. Glass, Zhengqin Fan
Jazyk: angličtina
Rok vydání: 2011
Předmět:
manipulation aids
Adult
Male
0209 industrial biotechnology
Engineering
Product/Device
Assistive robotics
Statistics as Topic
Biomedical Engineering
Physical Therapy
Sports Therapy and Rehabilitation
02 engineering and technology
Likert scale
Task (project management)
03 medical and health sciences
Speech and Hearing
Disability Evaluation
020901 industrial engineering & automation
0302 clinical medicine
Human–computer interaction
Task Performance and Analysis
teleoperation
usability study
Humans
Orthopedics and Sports Medicine
Mobility Limitation
Man-Machine Systems
Simulation
Aged
Hand Strength
Mobile manipulator
business.industry
Data Collection
Rehabilitation
Amyotrophic Lateral Sclerosis
Robotics
Middle Aged
Object (computer science)
Self-Help Devices
Patient Satisfaction
Obstacle
Teleoperation
Robot
Female
Artificial intelligence
mobile manipulator
business
030217 neurology & neurosurgery
Zdroj: Disability and Rehabilitation. Assistive Technology
ISSN: 1748-3115
1748-3107
Popis: People with physical disabilities have ranked object retrieval as a high-priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered being important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 SD = 20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD = 0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p 0.03, paired t-tests). Fourteen of the 20 participants reported that they would prefer using Dusty over their current methods. [Box: see text].
Databáze: OpenAIRE
Externí odkaz: