Abstract
This paper describes the development of a control user interface for a wheelchair-mounted manipulator for use by severely disabled persons. It explains the construction of the interface using tasks to define the user interface architecture. The prototype robot used several gesture recognition systems to achieve a level of usability better than other robots used for rehabilitation at the time. The use of neural networks and other procedures is evaluated. It outlines the experiments used to evaluate the user responses and draws conclusions about the effectiveness of the whole system. It demonstrates the possibility of control using a head mouse.
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The potential number is much greater, limited only by the available disk space and acceptable menu-depth.
discrete blocks of code
Signal bandwidth is used here to refer to the number of distinctly different signals that may be generated with a device.
As initial evaluations employed a six-axis manipulator, orientation of the end-effector for Cartesian mode was not possible. Hence, evaluation of this mode of control is not included.
Control using pre-taught positions was employed, allowing more to be ascertained form the evaluation in terms of user interaction.
Examples of interaction errors are intending to select a specific command from the menu, and accidentally selecting another, or missing a command from a scanning system.
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Acknowledgment
This programme was funded by the charity ASPIRE and the National Advisory Body. European Students working on the project were supported under the ERASMUS and SOCRATES programmes.
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Gerlich, L., Parsons, B.N., White, A.S. et al. Gesture recognition for control of rehabilitation robots. Cogn Tech Work 9, 189–207 (2007). https://doi.org/10.1007/s10111-007-0062-3
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DOI: https://doi.org/10.1007/s10111-007-0062-3