TY - GEN
T1 - A wearable interface for intuitive control of robotic manipulators without user training
AU - Fernandes, Vinicius B.P.
AU - Frank, Jared A.
AU - Kapila, Vikram
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - This paper describes the development of a wearable interface that exploits the user's natural arm movements to intuitively control a robotic manipulator. The design is intended to alleviate the time and effort spent in operating the robotic manipulator, regardless of the age and technological experience of the user. The interface is made to be low-cost, comfortably worn, and easy to put on and remove. Kinematic models of human and robot arms are used to produce a natural mapping from the user's arm movements to the commanded movements of the robotic manipulator. An experiment is conducted with 30 participants of varied ages and experience to assess the usability of the wearable interface. Each of the participants is assigned to perform a pick and place task using two of three different interfaces (the wearable interface, a game controller, and a mobile interface running on a tablet computer) for a total of 60 trials. The results of the study show that the wearable interface is easier to learn compared to the alternative interfaces and is chosen as the preferred interface by the participants. Performance data shows that the users complete the pick and place task faster with the wearable interface than with the alternative interfaces.
AB - This paper describes the development of a wearable interface that exploits the user's natural arm movements to intuitively control a robotic manipulator. The design is intended to alleviate the time and effort spent in operating the robotic manipulator, regardless of the age and technological experience of the user. The interface is made to be low-cost, comfortably worn, and easy to put on and remove. Kinematic models of human and robot arms are used to produce a natural mapping from the user's arm movements to the commanded movements of the robotic manipulator. An experiment is conducted with 30 participants of varied ages and experience to assess the usability of the wearable interface. Each of the participants is assigned to perform a pick and place task using two of three different interfaces (the wearable interface, a game controller, and a mobile interface running on a tablet computer) for a total of 60 trials. The results of the study show that the wearable interface is easier to learn compared to the alternative interfaces and is chosen as the preferred interface by the participants. Performance data shows that the users complete the pick and place task faster with the wearable interface than with the alternative interfaces.
KW - Interface
KW - Manipulator
KW - Robot
KW - Wearable
UR - http://www.scopus.com/inward/record.url?scp=84916899314&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84916899314&partnerID=8YFLogxK
U2 - 10.1115/ESDA2014-20128
DO - 10.1115/ESDA2014-20128
M3 - Conference contribution
AN - SCOPUS:84916899314
T3 - ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
BT - Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics
PB - Web Portal ASME (American Society of Mechanical Engineers)
T2 - ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
Y2 - 25 July 2014 through 27 July 2014
ER -