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<p>Mobile manipulation aids aim at enabling people with motor impairments to physically interact with their environment. To facilitate the operation of such systems, a variety of components, such as suitable user interfaces and intuitive control of the system, play a crucial role. In this article, we validate our highly integrated assistive robot EDAN, operated by an interface based on bioelectrical signals, combined with shared control and a whole-body coordination of the entire system, through a case study involving people with motor impairments to accomplish real-world activities. Three individuals with amyotrophia were able to perform a range of everyday tasks, including pouring a drink, opening and driving through a door, and opening a drawer. Rather than considering these tasks in isolation, our study focuses on the continuous execution of long sequences of realistic everyday tasks.</p>

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An assistive robot that enables people with amyotrophia to perform sequences of everyday activities

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年3月11日

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  • Annette Hagengruber,
  • Gabriel Quere,
  • Maged Iskandar,
  • Samuel Bustamante,
  • Jianxiang Feng,
  • Daniel Leidner,
  • Alin Albu-Schäffer,
  • Freek Stulp,
  • Jörn Vogel

摘要

Mobile manipulation aids aim at enabling people with motor impairments to physically interact with their environment. To facilitate the operation of such systems, a variety of components, such as suitable user interfaces and intuitive control of the system, play a crucial role. In this article, we validate our highly integrated assistive robot EDAN, operated by an interface based on bioelectrical signals, combined with shared control and a whole-body coordination of the entire system, through a case study involving people with motor impairments to accomplish real-world activities. Three individuals with amyotrophia were able to perform a range of everyday tasks, including pouring a drink, opening and driving through a door, and opening a drawer. Rather than considering these tasks in isolation, our study focuses on the continuous execution of long sequences of realistic everyday tasks.