Object Grasp Control of a 3D Robot Arm by Combining EOG Gaze Estimation and Camera-Based Object Recognition

Suhaimi, Muhammad Syaiful Amri bin; Matsushita, Kojiro; Kitamura, Takahide; Laksono, Pringgo Widyo; Sasaki, Minoru

doi:10.3390/biomimetics8020208

Cited by 2 publications

(1 citation statement)

References 27 publications

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“…However, eye-tracking technology can have problems with certain eye types, pupil color, glasses, contact lenses, and ambient lighting [14,12]. Alternatively, electrooculography has been used to provide some control of an ARM [46,54,4], but requires facial electrodes, which may be uncomfortable [12]. Lastly, ALS will eventually also affect the ocular muscles and thus heavily affect the performance of an eye-tracking device.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of an adaptive hybrid tongue-brain control framework by individuals with amyotrophic lateral sclerosis

Leck Kæseler,

Johansen,

Pálsdóttir

et al. 2023

Preprint

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Preprint submitted to IOP Journal of Neural Engineering Objective. Individuals with Amyotrophic lateral sclerosis (ALS) progressively lose muscle functionality and therefore experience both an increased need for assistive robot technologies and a reduced ability to control such robots. While these individuals may use high-performing control systems, such as tongue control, at the beginning of their disease progression, they will eventually be restricted to a lower-performing control system, such as brain control. However, an adaptive multimodal control interface framework consisting of combinations of tongue control and noninvasive brain control can utilize the residual tongue functionality to optimize the control performance throughout the disease progression. Approach. To investigate this concept, a new adaptive tongue-brain multimodal control framework for manual and continuous control of a 7-degree-of-freedom robot arm is developed, based on a prior validation study. The new framework focuses on improved visual feedback, as individuals with ALS specifically requested this in a previous validation study, and consists of four subsystems: the first uses full tongue control; the second and third use hybrid tongue and noninvasive brain control, with a decreasing need for tongue functionality; and the fourth uses noninvasive brain control only. The framework was evaluated with three participants with ALS. Main results. All participants were succesful with all subsystems. One user could no longer efficiently use the full tongue control interface but achieved good results with the third and fourth subsystems. The second participant achieved significantly better results with the subsystems that included some tongue control, thereby showing the advantage of including some tongue control. The third participant performed well with all subsystems showing the ideal performance progression between each subsystem. Moreover, all participants, including the two with good tongue control, chose a multimodal control interface as their favorite. Significance. The results indicate that individuals with ALS prefer interfaces that combine multiple control modalities.

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Section: Introductionmentioning

confidence: 99%

Evaluation of an adaptive hybrid tongue-brain control framework by individuals with amyotrophic lateral sclerosis

Leck Kæseler,

Johansen,

Pálsdóttir

et al. 2023

Preprint

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Exploring the ’EarSwitch’ concept: a novel ear based control method for assistive technology

Hoyle,

Stevenson,

Leonhardt

et al. 2024

J NeuroEngineering Rehabil

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Background Loss of communication with loved ones and carers is one of the most isolating and debilitating effects of many neurological disorders. Assistive technology (AT) supports individuals with communication, but the acceptability of AT solutions is highly variable. In this paper a novel ear based control method of AT, the concept of ’EarSwitch’, is presented. This new approach is based on detecting ear rumbling, which is the voluntary contraction of the tensor tympani muscle (TTM), resulting in observable movement of the eardrum and a dull rumbling sound. ’EarSwitch’ has the potential to be a discreet method that can complement existing AT control methods. However, only a subset of the population can ear rumble and little is known about the ability of rumbling in populations with neurological disorders. Methods To explore the viability of the ’EarSwitch’ concept as an AT control method we conducted in-depth online surveys with (N=1853) respondents from the general population and (N=170) respondents with self-declared neurological disorders including Motor Neurone Disease (MND) and Multiple Sclerosis (MS).This is the largest ever study to explore ear rumbling and the first to explore whether rumbling is preserved among individuals with neurological disorders. In addition, we validated rumbling, and investigated usability of the ’EarSwitch’ concept as a control input, using in-person otoscopic examination with a subset of participants. Results A significant proportion of the population with neurological disorders could benefit from ’EarSwitch’ controllable AT. The upper bound prevalence of the ability to rumble without accompanying movements was 55% in the general population, 38% in the neurological population, and 20% of participants with MND (N=95) reported this ability. During the validation procedure, participants achieved high accuracy in self-reporting the ability to rumble (80%) and proved concept of using the ’EarSwitch’ method to control a basic interface. Discussion ’EarSwitch’ is a potential new AT control method control, either by itself or as a supplement to other existing methods. Results demonstrate self-reported ear rumbling is present among patients with different neurological disorders, including MND. Further research should explore how well the ability to rumble is preserved in different types and stages of neurological disorders.

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Object Grasp Control of a 3D Robot Arm by Combining EOG Gaze Estimation and Camera-Based Object Recognition

Cited by 2 publications

References 27 publications

Evaluation of an adaptive hybrid tongue-brain control framework by individuals with amyotrophic lateral sclerosis

Evaluation of an adaptive hybrid tongue-brain control framework by individuals with amyotrophic lateral sclerosis

Exploring the ’EarSwitch’ concept: a novel ear based control method for assistive technology

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