NRI: Adaptive Teleoperation Interfaces for In-Home Assistive Robots

NRI：家用辅助机器人的自适应远程操作接口

• 批准号: 10671139
• 负责人: Maya Cakmak
• 金额: $ 17.97万
• 依托单位: UNIVERSITY OF WASHINGTON
• 依托单位国家: 美国
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-09-06 至 2026-08-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10671139
• 关键词: Activities of Daily Living; Algorithms; Automation; Caregivers; Computer software; Development; Ensure; Environment; Evaluation; Face; Goals; Guidelines; Home; Home environment; Implant; Independent Living; Literature; Manuals; Maps; Measurement; Measures; Motor; Occupational Therapist; Output; Persons; Phase; Research; Robot; Safety; Stretching; System; Systems Integration; Variant; Work; aging population; assistive robot; automated algorithm; caregiving; cost; disability; functional independence; instrument; light weight; open source; operation; preference; remote health care; robot assistance; robot control; teleoperation; usability

Mobile manipulators that can navigate and physically interact with their environment have the potential to assist people with motor limitations in carrying out activities of daily living independently. Despite this great potential, robots that can be safely deployed in the homes of these users do not yet exist. Until recently one of the key reasons for this gap was the lack of available hardware platforms, but the release of Stretch – a new low-cost, light-weight, inherently safe, and highly capable mobile manipulator – has greatly reduced the barrier to in-home deployments. A second key reason is the difficulty of robust autonomy given the vast variations across home environment. A practical, near-term solution is to have robots teleoperated by the user, which is also preferred by users in the target group who want to keep control over the robot. However, most existing teleoperations interfaces are not accessible to users with motor limitations who might have restricted input. This project aims to tackle this challenge by developing new systems and algorithms that enable adaptive accessible teleoperation interfaces for mobile manipulators. The ability to adapt to the unique requirements and preferences of these users while enabling the safest and most efficient operation of the robot is critical to our proposed solution. The project involves the development of an integrated system called AccessTeleopKit implanted on the Stretch robot platform, and shared as open-source software. New algorithms for automatically customizing interfaces in AccessTeleopKit based on user input ability assessment, and automating repetitive parts of common tasks from user demonstrations as they teleoperate the robot will be developed. Contributions also include conceptual frameworks to represent teleoperation interfaces as mappings between user inputs and robot control outputs with Finite State Machines; and the heuristically assessing the accessibility of a teleoperation interface for users with different abilities. Evaluation will involve user studies and multi-phase long-term deployments of the robots in five homes facilitated by occupational therapists and will contribute new empirical findings about the usability, utility, and acceptance of assistance robots in the home. New guidelines for occupational therapists to use teleoperated robots in their practice will also be created.

可以导航并与环境进行物理互动的移动操纵器有可能 协助有限制运动的人们独立进行日常生活的活动。尽管如此 巨大的潜力，可以安全部署在这些用户家中的机器人尚不存在。直到 最近，此差距的关键原因之一是缺乏可用的硬件平台，但是该版本 拉伸 - 一种新的低成本，轻巧，天生安全且功能强大的移动操纵器 - 具有 大大减少了家庭部署的障碍。第二个关键原因是鲁棒的困难 自主权鉴于家庭环境之间的巨大差异。实用的近期解决方案是 用户对机器人进行了详细的操作，目标组中的用户也首选要保留 控制机器人。但是，用户无法使用大多数现有的遥控接口 可能限制输入的电机限制。该项目旨在通过发展来应对这一挑战 新的系统和算法，可为移动 操纵器。适应这些用户的独特要求和偏好的能力 实现机器人最安全，最有效的操作对于我们提出的解决方案至关重要。 该项目涉及植入在 伸展机器人平台，并作为开源软件共享。自动的新算法 根据用户输入能力评估并自动化AccessTeleopKit中的界面 用户演示的常见任务的重复部分，因为它们可以录制机器人 发达。贡献还包括概念框架，以表示遥控接口为 用有限状态计算机之间的用户输入和机器人控制输出之间的映射；和启发式 评估具有不同能力的用户的遥控界面的可访问性。评估会 涉及用户研究和在五个房屋中的机器人的多相长期部署 占领治疗师，并将为可用性，公用事业和 在家中接受援助机器人。占用治疗师的新指南 他们的实践中也将创建遥控机器人。