User Testing of a Continuum Manipulator for Assistive Technology

Abstract

The application of continuum manipulators as assistive robots is discussed and tested through the use of Bendy ARM, a tendon-driven continuum manipulator prototype. Two rounds of user testing were completed to evaluate the potential of this robot to aid disabled individuals in the completion of activities of daily living. In the first round of user testing, 14 able-bodied subjects successfully completed the prescribed task (pick-and-place) using multiple control schemes after being given a brief introduction and one minute of practice with each scheme. In the second round of user testing, subjects chosen from the first round of testing (n = 3) demonstrated between 29.45 and 48.91 percent improvement in completion time across three sessions (twelve trials total) of a peg-in-hole task, and between 8.39 and 33.81 percent improvement across two sessions (six trials total) of a task involving opening and closing a drawer. Based on these results, it is posited that continuum manipulators merit further consideration as a safer and more cost-effective alternative to existing commercially available assistive robotic manipulators.

Continuum Robots for Manipulation Applications: A Survey

“…Spine structures can possess only bending Biological vine and plant Tongue and tail of a reptile [182,183] Journal of Robotics 3 movements with limited angular constraints and with a fixed base, and snakes belong to the class of reptiles that have the capability to elongate their bodies without limbs to grasp or manipulate objects with precision in a confined space. e single-segment-multidisc models, spine [32][33][34][35][36][37][38][39][40][41][42] and snake [56][57][58][59][60][61][62], are generally made up of circular metal structures equidistantly placed along the backbone. e discs are magnetically polarized so that the distance between the discs remains constant and can take up the shape of constant curvature to achieve the hemispherical surface of the end effector.…”

Design and Preliminary Testing of a Continuum Assistive Robotic Manipulator

“…This lack of quantified user testing presents as a noticeable gap in the literature, since assistive robotics requires a direct interaction between humans and robots [33]. Therefore, one aim of this study was to obtain and analyze quantitative data on user testing with our robot.…”

Continuum Arm Manipulator Refinement for Assistive Technology

“…The arm is maneuvered using two joysticks, which control the angle and direction of the manipulator's movement. The robot can be operated with one of three control schemes: Dual-Joystick, Single-Joystick Segmented, and Single-Joystick Compensative, as described in Coulson et al [16].…”

“…While there are many benefits to using continuum manipulators, accurate control and modelling of these types of robots is a difficulty that is often documented Figure 1, which was the first iteration of the device to undergo user testing [16]. The new iteration of the robot has modifications to the backbone and base components to improve operation and maintenance of the robot.…”