Improved Electric Wheelchair Controlled by Head Motion

Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator

“…This was similarly the case for his daily responses; as seen in Fig. 5, Henry replied either Somewhat Agree (5) or Agree (6). As discussed in the Task Completion and Efficiency section, Henry found the interface well suited for any precise tasks due to having continuous control and for any tasks around his body due to not having a monitor directly in front of him.…”

“…For the Driver Assistance tasks, as seen in Fig. 7, Henry agreed (6) or strongly agreed (7) with the Likert items related to feeling in control, having the robot do what he wanted, and preference for the assistance over full teleoperation. All raw data relating to Driver Assistance are in Table A5.…”

“…While highly efficient, these interfaces cannot be used by individuals without intact limb movement. Headworn IMU-based interfaces have been used in conjunction with electric wheelchairs [6,19,34], but most have not been evaluated with mobile manipulators that have many additional degrees of freedom and which require the user to teleoperate the mobile base in third person. HAT is an IMU-based, direct teleoperation interface which maps head orientation angles to actuator velocities for a high degree of freedom mobile manipulator [44].…”

“…Previous instantiations of head-worn interfaces have relied on lineof-sight [6,19,34,44]. In contrast, when we pair HAT with a graphical user interface (GUI), depicted in Fig.…”

“…5.1.3 Ease of Use. As seen in Table 1, across all predefined tasks, Henry's median response was Agree (6) to the Likert item "The control interface was easy to use. " Specifically, Henry gave a 7 (Strongly Agree) ranking to 3 tasks: Playing Cards, Blanket+Tissue+Trash, and Manipulating Blinds.…”