Flexible Control Authority With a Robotic Arm: Facilitating Seamless Transitions Between User and Robot Control in Multi-Action Manipulation Tasks.

机械臂的灵活控制权限：促进多动作操作任务中用户和机器人控制之间的无缝过渡。

• 批准号: 10637707
• 负责人: Breelyn Styler
• 金额: --
• 依托单位: VETERANS HEALTH ADMINISTRATION
• 依托单位国家: 美国
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10637707
• 关键词: Activities of Daily Living; Address; Agreement; Amyotrophic Lateral Sclerosis; Authorization documentation; Automobile Driving; Awareness; Back; Behavior; Benchmarking; Caregiver support; Caregivers; Caring; Clinical; Cognitive; Communities; Complex; Computer software; Decision Making; Development; Diagnosis; Environment; Evaluation; Event; Family; Family Caregiver; Family member; Feedback; Fill-It; Future; Goals; Hand; Hand functions; Home environment; Impairment; Individual; Industry; Intelligence; Interruption; Intuition; Investments; Joystick; K-Series Research Career Programs; Left; Literature; Manuals; Measures; Methodology; Military Personnel; Modeling; Modification; Monitor; Movement; Multiple Sclerosis; Nature; Performance; Persons; Phase; Population; Positioning Attribute; Powered wheelchair; Preparation; Principal Investigator; Process; Psyche structure; Quadriplegia; Quality of life; Reporting; Research Design; Robot; Robotics; Role; Rotation; Self Care; Self-Help Devices; Surveys; System; Techniques; Technology; Time; Training; United States National Aeronautics and Space Administration; Upper Extremity; Veterans; Vision; Voice; Water; Wheelchairs; Work; Workload; Wrist; algorithm development; arm; arm function; arm movement; assistive robot; authority; career; cognitive ability; design; disability; drinking; empowerment; experience; flexibility; human subject; human-robot interaction; improved; indexing; innovation; iterative design; microwave electromagnetic radiation; military service; operation; predictive modeling; preference; recruit; robot assistance; robot control; robot rehabilitation; robotic device; service member; smart home; success; technology platform; tool; usability

This proposal discusses the development and evaluation of a collaborative Assistive Robotic Manipulator (ARM) which allows the Veteran to preference control authority (user moving the arm versus robot software moving the arm) at any point in a multi-action task: flexible control authority (FlexCA). Veterans with tetraplegia, amyotrophic lateral sclerosis (ALS), and multiple sclerosis (MS) can readily access electric power wheelchairs (EPWs) for their mobility needs but are still limited in performing manipulation tasks. Current options for manipulation assistance include low tech specialized manipulation tools, modifications of the environment, caregiver support, and robotic arms. ARMs for EPW users are capable of a variety of functions but are unintuitive to control. Manually driving the control input for an ARM requires reasoning about many different modes for moving the arm in three directions, rotating the arm’s wrist in three directions, and opening and closing the gripper. The addition of more intelligent robot software assistance can ease control burdens but should also adapt to a user’s changing abilities, preferences, and contexts. Previous work pre-assigns control authority, which creates a rigid order of actions that causes unexpected behavior if the user decides to interrupt the system. This career development award (CDA-1) addresses an unforeseen challenge, the ability to allow the user to change their control authority preference by creating a seamless transition between manual control and robot autonomous operation both within and between different functional task actions. This is achieved through a development aim and an evaluation aim. The first aim is to develop the FlexCA assistive dialogue control system for ARMs that tracks the user state within a kitchen task allowing the Veteran to initiate control authority. The first goal of this aim is to infer the current state within a multi-action task regardless of how the robot is controlled. This is formulated as a sequential stochastic state model that leverages environment observations and user input to successfully monitor and estimate the state allowing the robotic software to seamlessly pick up wherever the user leaves off. Input and feedback from the system is initiated through the development of a voice-activated user interface. The system is evaluated in two phases. The first phase involves a representative user that actively participates in the iterative design process, and a group of benchmark users. The second phase evaluates the FlexCA system among Veterans with limited arm function who use EPWs. Veterans are recruited to provide objective performance measures and subjective assessments of usability and task workload. This work empowers Veterans with upper limb impairment to perform realistic functional tasks with an ARM. By achieving our aims, algorithmic developments can be generalized towards other assistive devices, and inform future models for more appropriately matching assistive systems that adapt to the user positively impacting their quality of life. This CDA-1 provides training experience in assistive technology, clinical methodology, and human robot interaction that bridges the candidate’s previous experience in robotics and software industry with the development of assistive technology to increase Veteran independence. Immediate goals include constructing user-centric driven technology specific to rehabilitation robotics and assistive devices and understanding the methodology of human subject study design. Long-term career goals include future work as a principal investigator on topics that merge probabilistic techniques, such as predictive modeling and stochastic decision making, for more context-aware and user-centric assistive technology platforms that include smart home environments, robotic wheelchairs, and robotic assistive arms.

该建议讨论了协作辅助机器人操纵器的开发和评估 （ARM）允许退伍军人偏爱控制权（用户移动手臂与机器人软件 在多进攻任务中的任何时刻移动手臂）：灵活控制权限（FLEXCA）。退伍军人 四腹，肌萎缩性侧索硬化症（ALS）和多发性硬化症（MS）可以容易获得电力 轮椅（EPWS）满足其活动需求，但仍在执行操纵任务方面受到限制。当前的 操纵协助的选项包括低技术专业的操纵工具，修改 环境，护理人员支持和机器人臂。 EPW用户的武器具有多种功能 但对控制不直觉。手动驱动控制手臂的控制输入需要许多关于许多的推理 不同的模式以三个方向移动手臂，将手臂的手腕朝三个方向旋转，然后打开 并关闭抓手。添加更聪明的机器人软件援助可以减轻控制伯伦斯 但也应适应用户的不断变化的能力，偏好和上下文。以前的工作预分配 控制权限，如果用户决定 中断系统。该职业发展奖（CDA-1）解决了一个不可预见的挑战，即能力 使用户可以通过在手册之间创建无缝过渡来更改其控制权限的偏好 控制和机器人自主操作在不同的功能任务操作之间和之间。这是 通过开发目标和评估目的实现。第一个目的是开发FlexCA辅助工具 武器的对话控制系统，该系统在厨房任务中跟踪用户状态，使退伍军人能够发起 控制权。此目标的第一个目标是推断多进攻任务中的当前状态 机器人如何控制。这是一个依次的顺序随机状态模型。 环境观察和用户输入，以成功监视和估计允许机器人的状态 软件可以无缝地拾取用户离开的任何地方。启动系统的输入和反馈 通过开发语音激活的用户界面。该系统分为两个阶段。第一个 阶段涉及积极参与迭代设计过程的代表用户，一组 基准用户。第二阶段评估手臂功能有限的退伍军人之间的弹性系统 谁使用EPW。招募退伍军人以提供客观的绩效指标和主观 评估可用性和任务工作量。这项工作使退伍军人有上肢障碍 用手臂执行现实的功能任务。通过实现我们的目标，算法的发展可能是 对其他辅助设备进行概括，并为未来的模型提供信息，以更适当匹配 适应用户积极影响其生活质量的辅助系统。 该CDA-1提供辅助技术，临床方法和人类的培训经验 机器人的互动将候选人在机器人和软件行业的先前经验桥接与 开发辅助技术以提高退伍军人独立性。直接目标包括构建 以用户为中心的驱动技术专门针对康复机器人技术和辅助设备，并了解 人类学科研究设计方法。长期职业目标包括未来作为校长的工作 研究人员在合并概率技术的主题（例如预测建模和随机决策） 制作更多的上下文感知和以用户为中心的辅助技术平台，包括智能家庭 环境，机器人轮椅和机器人辅助臂。