Laffont Isabelle, Biard Nicolas, Chalubert Gérard, Delahoche Laurent, Marhic Bruno, Boyer François C, Leroux Christophe
Unité de Médecine Physique et de Réadaptation, Hôpital Gui de Chauliac, Montpellier, France.
Arch Phys Med Rehabil. 2009 Oct;90(10):1740-8. doi: 10.1016/j.apmr.2009.05.009.
Laffont I, Biard N, Chalubert G, Delahoche L, Marhic B, Boyer FC, Leroux C. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study.
Grasping robots are still difficult to use for persons with disabilities because of inadequate human-machine interfaces (HMIs). Our purpose was to evaluate the efficacy of a graphic interface enhanced by a panoramic camera to detect out-of-view objects and control a commercialized robotic grasping arm.
Multicenter, open-label trial.
Four French departments of physical and rehabilitation medicine.
Control subjects (N=24; mean age, 33y) and 20 severely impaired patients (mean age, 44y; 5 with muscular dystrophies, 13 with traumatic tetraplegia, and 2 others) completed the study. None of these patients was able to grasp a 50-cL bottle without the robot.
Participants were asked to grasp 6 objects scattered around their wheelchair using the robotic arm. They were able to select the desired object through the graphic interface available on their computer screen.
Global success rate, time needed to select the object on the screen of the computer, number of clicks on the HMI, and satisfaction among users.
We found a significantly lower success rate in patients (81.1% vs 88.7%; chi(2)P=.017). The duration of the task was significantly higher in patients (71.6s vs 39.1s; P<.001). We set a cut-off for the maximum duration at 79 seconds, representing twice the amount of time needed by the control subjects to complete the task. In these conditions, the success rate for the impaired participants was 65% versus 85.4% for control subjects. The mean number of clicks necessary to select the object with the HMI was very close in both groups: patients used (mean +/- SD) 7.99+/-6.07 clicks, whereas controls used 7.04+/-2.87 clicks. Considering the severity of patients' impairment, all these differences were considered tiny. Furthermore, a high satisfaction rate was reported for this population concerning the use of the graphic interface.
The graphic interface is of interest in controlling robotic arms for disabled people, with numerous potential applications in daily life.
拉丰特I、比亚德N、沙吕贝G、德拉霍什L、马尔希克B、博耶FC、勒鲁C。评估用于控制机器人抓取臂的图形界面：一项多中心研究。
由于人机界面（HMI）不完善，抓取机器人对残疾人来说仍然难以使用。我们的目的是评估一种由全景摄像头增强的图形界面在检测视野外物体并控制商业化机器人抓取臂方面的效果。
多中心、开放标签试验。
法国四个物理和康复医学科室。
对照组受试者（N = 24；平均年龄33岁）和20名严重受损患者（平均年龄44岁；5例患有肌肉萎缩症，13例患有创伤性四肢瘫痪，另外2例）完成了研究。这些患者中没有一个在没有机器人辅助的情况下能够握住一个50厘升的瓶子。
要求参与者使用机器人手臂抓取散落在轮椅周围的6个物体。他们能够通过电脑屏幕上的图形界面选择想要抓取的物体。
总体成功率、在电脑屏幕上选择物体所需的时间、HMI上的点击次数以及用户满意度。
我们发现患者的成功率显著较低（81.1%对88.7%；卡方检验P = 0.017）。患者完成任务的持续时间显著更长（71.6秒对39.1秒；P < 0.001）。我们将任务的最长持续时间设定为79秒，这是对照组受试者完成任务所需时间的两倍。在这种情况下，受损参与者的成功率为65%，而对照组受试者为85.4%。两组中使用HMI选择物体所需的平均点击次数非常接近：患者使用（均值±标准差）7.99 ± 6.07次点击，而对照组使用7.04 ± 2.87次点击。考虑到患者损伤的严重程度，所有这些差异都被认为很小。此外，该人群对图形界面的使用满意度很高。
图形界面在控制残疾人使用的机器人手臂方面具有重要意义，在日常生活中有众多潜在应用。
