IEEE Trans Neural Syst Rehabil Eng. 2018 Jan;26(1):161-170. doi: 10.1109/TNSRE.2017.2765362.
The assistive robot system adaptive head motion control for user-friendly support (AMiCUS) has been developed to increase the autonomy of motion impaired people. The six degrees of freedom robot arm with gripper is controlled with head motion and head gestures only, so especially tetraplegics benefit from collaboration with AMiCUS. In this paper, a usability study with a total number of 30 subjects was conducted to validate the AMiCUS interaction technology and design. 24 able-bodied subjects of demographically diverse groups and 6 tetraplegics participated in this paper. All subjects performed different pick and place tasks by controlling AMiCUS. The evaluation of the interaction design was carried out subjectively with a questionnaire as well as objectively by measurement of time, completion rate, and number of trials for correct head gesture performance. The influence of several factors like age, sex, motion impairment, and previous experience on head motion-based human-robot interaction was analyzed. The interaction design has been proven successful in laboratory environment and assessed overall positive by the subjects. The results of the presented paper confirm the usability of the assistive robot AMiCUS. AMiCUS has the potential to benefit tetraplegics by improving their independence in activities of daily living and adapted workplaces.
辅助机器人系统自适应头部运动控制，以实现用户友好的支持（AMiCUS），旨在提高运动障碍者的自主性。带有夹持器的六自由度机器人手臂仅通过头部运动和头部姿势进行控制，因此，特别是四肢瘫痪患者受益于与 AMiCUS 的协作。本文进行了一项共有 30 名受试者的可用性研究，以验证 AMiCUS 的交互技术和设计。该研究由具有不同人口统计学背景的 24 名健康受试者和 6 名四肢瘫痪患者组成。所有受试者通过控制 AMiCUS 执行不同的拾取和放置任务。通过问卷调查和对头部姿势正确执行的时间、完成率和尝试次数的客观测量，对交互设计进行了主观和客观的评估。分析了年龄、性别、运动障碍和先前经验等几个因素对基于头部运动的人机交互的影响。研究结果表明，辅助机器人 AMiCUS 在实验室环境中是成功的，并且得到了受试者的积极评价。本文的研究结果证实了辅助机器人 AMiCUS 的可用性。AMiCUS 有可能通过改善四肢瘫痪患者日常生活活动和适应工作场所的独立性，使他们受益。
