Development of an Intraoral Interface for Human-Ability Extension Robots

Koike, Uori; Enriquez, Guillermo; Miwa, Takaki; Yap, Huei Ee; Kabasawa, Madoka; Hashimoto, Shuji

doi:10.20965/jrm.2016.p0819

Cited by 7 publications

(5 citation statements)

References 27 publications

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“…However, partly due to their often invasive character and the challenging nature of the neural recordings, those efforts have not yet resulted in systems that can be used at home by individuals with tetraplegia. Others have demonstrated the use of extra oral interfaces to control limited movements of robotic arms in task specific set-ups [9, 10]. In the recent years, new intra oral tongue based computer interfaces have been proposed for control of computers [11–16].…”

Section: Introductionmentioning

confidence: 99%

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Struijk

Egsgaard

Lontis

et al. 2017

J NeuroEngineering Rehabil

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BackgroundFor an individual with tetraplegia assistive robotic arms provide a potentially invaluable opportunity for rehabilitation. However, there is a lack of available control methods to allow these individuals to fully control the assistive arms.MethodsHere we show that it is possible for an individual with tetraplegia to use the tongue to fully control all 14 movements of an assistive robotic arm in a three dimensional space using a wireless intraoral control system, thus allowing for numerous activities of daily living. We developed a tongue-based robotic control method incorporating a multi-sensor inductive tongue interface. One abled-bodied individual and one individual with tetraplegia performed a proof of concept study by controlling the robot with their tongue using direct actuator control and endpoint control, respectively.ResultsAfter 30 min of training, the able-bodied experimental participant tongue controlled the assistive robot to pick up a roll of tape in 80% of the attempts. Further, the individual with tetraplegia succeeded in fully tongue controlling the assistive robot to reach for and touch a roll of tape in 100% of the attempts and to pick up the roll in 50% of the attempts. Furthermore, she controlled the robot to grasp a bottle of water and pour its contents into a cup; her first functional action in 19 years.ConclusionTo our knowledge, this is the first time that an individual with tetraplegia has been able to fully control an assistive robotic arm using a wireless intraoral tongue interface. The tongue interface used to control the robot is currently available for control of computers and of powered wheelchairs, and the robot employed in this study is also commercially available. Therefore, the presented results may translate into available solutions within reasonable time.

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Section: Introductionmentioning

confidence: 99%

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Struijk

Egsgaard

Lontis

et al. 2017

J NeuroEngineering Rehabil

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show abstract

“…Pressure and bending sensors at the foot have commonly acted as an input source for seated tasks 21 and a supernumerary thumb 30,64 . Additional sources of input have included pressure sensors in the mouth through tongue control 65 . The simultaneous use of position and force measurements demonstrates the potential of using body interfaces to control SEs with multiple DoFs 21 .…”

Section: Augmentation By Transfermentioning

confidence: 99%

Principles of human movement augmentation and the challenges in making it a reality

et al. 2022

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Augmenting the body with artificial limbs controlled concurrently to one’s natural limbs has long appeared in science fiction, but recent technological and neuroscientific advances have begun to make this possible. By allowing individuals to achieve otherwise impossible actions, movement augmentation could revolutionize medical and industrial applications and profoundly change the way humans interact with the environment. Here, we construct a movement augmentation taxonomy through what is augmented and how it is achieved. With this framework, we analyze augmentation that extends the number of degrees-of-freedom, discuss critical features of effective augmentation such as physiological control signals, sensory feedback and learning as well as application scenarios, and propose a vision for the field.

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“…However, some of these studies involve the inconvenience of attaching small magnetic induction devices to the tongue. Other investigations have focused on mouth-operated tabletop fixtures for computer screen manipulation [26], incorporating multiple inertial measurement units (IMUs) and air pressure sensors mounted on the head and within the mouth to detect manipulation intent [27] and utilizing an intraoral capsule to capture tongue movements [28]. These studies demonstrate the feasibility of mouth-operated interactive devices for conveying intentions to WRLs.…”

Section: Introductionmentioning

confidence: 97%

A Mouth and Tongue Interactive Device to Control Wearable Robotic Limbs in Tasks where Human Limbs Are Occupied

Jing,

Zheng,

Zhang

et al. 2024

Biosensors

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The Wearable Robotic Limb (WRL) is a type of robotic arm worn on the human body, aiming to enhance the wearer’s operational capabilities. However, proposing additional methods to control and perceive the WRL when human limbs are heavily occupied with primary tasks presents a challenge. Existing interactive methods, such as voice, gaze, and electromyography (EMG), have limitations in control precision and convenience. To address this, we have developed an interactive device that utilizes the mouth and tongue. This device is lightweight and compact, allowing wearers to achieve continuous motion and contact force control of the WRL. By using a tongue controller and mouth gas pressure sensor, wearers can control the WRL while also receiving sensitive contact feedback through changes in mouth pressure. To facilitate bidirectional interaction between the wearer and the WRL, we have devised an algorithm that divides WRL control into motion and force-position hybrid modes. In order to evaluate the performance of the device, we conducted an experiment with ten participants tasked with completing a pin-hole assembly task with the assistance of the WRL system. The results show that the device enables continuous control of the position and contact force of the WRL, with users perceiving feedback through mouth airflow resistance. However, the experiment also revealed some shortcomings of the device, including user fatigue and its impact on breathing. After experimental investigation, it was observed that fatigue levels can decrease with training. Experimental studies have revealed that fatigue levels can decrease with training. Furthermore, the limitations of the device have shown potential for improvement through structural enhancements. Overall, our mouth and tongue interactive device shows promising potential in controlling the WRL during tasks where human limbs are occupied.

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Development of an Intraoral Interface for Human-Ability Extension Robots

Cited by 7 publications

References 27 publications

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia

Principles of human movement augmentation and the challenges in making it a reality

A Mouth and Tongue Interactive Device to Control Wearable Robotic Limbs in Tasks where Human Limbs Are Occupied

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