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交互的移动机械手有潜力 尽管如此，还是帮助运动受限的人独立进行日常生活活动。 潜力巨大，但可以安全部署在这些用户家中的机器人尚不存在。 最近造成这种差距的关键原因之一是缺乏可用的硬件平台，但发布 Stretch 是一种新型低成本、轻量级、本质安全且功能强大的移动机械手 大大降低了家庭部署的障碍第二个关键原因是鲁棒性的难度。 考虑到家庭环境的巨大差异，一个实用的近期解决方案是拥有自主权。 由用户远程操作的机器人，这也是目标群体中想要保留的用户的首选 然而，大多数现有的远程操作界面对于用户来说是无法访问的。 该项目旨在通过开发来应对这一挑战。 新系统和算法可为移动设备提供自适应可访问远程操作界面 能够适应这些用户的独特要求和偏好，同时 使机器人能够最安全、最高效地运行对于我们提出的解决方案至关重要。 该项目涉及开发一个名为 AccessTeleopKit 的集成系统，该系统植入到 拉伸机器人平台，并作为开源软件共享自动新算法。 基于用户输入能力评估和自动化定制 AccessTeleopKit 中的界面 用户远程操作机器人时演示的常见任务的重复部分将 开发的贡献还包括将远程操作接口表示为的概念框架。 使用有限状态机和启发式在用户输入和机器人控制输出之间进行映射； 评估远程操作界面对于不同能力的用户的可访问性。 涉及用户研究和机器人在五个家庭中的多阶段长期部署 职业治疗师并将贡献关于可用性、实用性和 接受家庭辅助机器人的使用新指南。 还将在实践中创建远程操作机器人。