In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms

Pascher, Max; Kronhardt, Kirill; Goldau, Felix Ferdinand; Frese, Udo; Gerken, Jens

doi:10.1109/ro-man57019.2023.10309381

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2024

Publication Types

Select...

Other2

Book1

Article1

Relationship

Self Cite1

Independent3

Authors

Journals

Cited by 4 publications

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Exploring AI-Enhanced Shared Control for an Assistive Robotic Arm

Pascher,

Kronhardt,

Freienstein

et al. 2024

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Exploring AI-Enhanced Shared Control for an Assistive Robotic Arm

Pascher,

Kronhardt,

Freienstein

et al. 2024

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Adaptive Control in Assistive Application - A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility

Goldau,

Pascher,

Baumeister

et al. 2024

2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)

View full text Add to dashboard Cite

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

Pascher,

Zinta,

Gerken

2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

Self Cite

View full text Add to dashboard Cite

Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to manage multiple Degrees-of-Freedom (DoFs) for tasks like grasping and manipulating objects. Conventional input devices, typically limited to two DoFs, necessitate frequent and complex mode switches to control individual DoFs. Modern adaptive controls with feed-forward multimodal feedback reduce the overall task completion time, number of mode switches, and cognitive load. Despite the variety of input devices available, their effectiveness in adaptive settings with assistive robotics has yet to be thoroughly assessed. This study explores three different input devices by integrating them into an established XR framework for assistive robotics, evaluating them and providing empirical insights through a preliminary study for future developments. CCS CONCEPTS• Computer systems organization → Robotic control; • Humancentered computing → Visualization techniques; Virtual reality.

show abstract

In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms

Cited by 4 publications

References 27 publications

Exploring AI-Enhanced Shared Control for an Assistive Robotic Arm

Exploring AI-Enhanced Shared Control for an Assistive Robotic Arm

Adaptive Control in Assistive Application - A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility

Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

Contact Info

Product

Resources

About