Laureiti Clemente, Cordella Francesca, di Luzio Francesco Scotto, Saccucci Stefano, Davalli Angelo, Sacchetti Rinaldo, Zollo Loredana
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:1001-1006. doi: 10.1109/ICORR.2017.8009380.
People with a high level of disability experience great difficulties to perform activities of daily living and resort to their residual motor functions in order to operate assistive devices. The commercially available interfaces used to control assistive manipulators are typically based on joysticks and can be used only by subjects with upper-limb residual mobilities. Many other solutions can be found in the literature, based on the use of multiple sensory systems for detecting the human motion intention and state. Some of them require a high cognitive workload for the user. Some others are more intuitive and easy to use but have not been widely investigated in terms of usability and user acceptance. The objective of this work is to propose an intuitive and robust user interface for assistive robots, not obtrusive for the user and easily adaptable for subjects with different levels of disability. The proposed user interface is based on the combination of M-IMU and EMG for the continuous control of an arm-hand robotic system by means of M-IMUs. The system has been experimentally validated and compared to a standard voice interface. Sixteen healthy subjects volunteered to participate in the study: 8 subjects used the combined M-IMU/EMG robot control, and 8 subjects used the voice control. The arm-hand robotic system made of the KUKA LWR 4+ and the IH2 Azzurra hand was controlled to accomplish the daily living task of drinking. Performance indices and evaluation scales were adopted to assess performance of the two interfaces.
重度残疾人士在进行日常生活活动时面临巨大困难，他们会借助自身残余的运动功能来操作辅助设备。用于控制辅助机械手的市售接口通常基于操纵杆，且仅适用于上肢有残余活动能力的受试者。文献中还能找到许多其他解决方案，这些方案基于使用多种传感系统来检测人体运动意图和状态。其中一些方案对用户来说认知工作量较大。其他一些则更直观、易于使用，但在可用性和用户接受度方面尚未得到广泛研究。这项工作的目的是为辅助机器人提出一种直观且强大的用户界面，该界面不会给用户造成干扰，并且易于适应不同残疾程度的受试者。所提出的用户界面基于M-IMU和肌电图（EMG）的组合，通过M-IMU对臂-手机器人系统进行连续控制。该系统已通过实验验证，并与标准语音界面进行了比较。16名健康受试者自愿参与了这项研究：8名受试者使用了M-IMU/EMG组合的机器人控制，8名受试者使用了语音控制。由库卡LWR 4+机器人和IH2阿祖拉手组成的臂-手机器人系统被控制以完成喝水这一日常生活任务。采用性能指标和评估量表来评估这两种界面的性能。
