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Approximately 6.8 million people in the US use assistive technologies for mobility, with 25% relying on wheelchairs. Many require assistance with activities of daily living such as dressing, grooming, and eating. The Multifunctional robotic assistive arm (mR2A), developed by the BioRobotics Lab at the University of Wisconsin Milwaukee, offers a high-tech solution for powered wheelchair users, supporting various control interfaces: finger joystick, chin-controlled joystick, eye-gaze, and AssistKey keypad. This study evaluated these control systems with ten healthy participants performing pick-and-place tasks. Results showed a 100% task completion. The finger joystick was precise and fast, suitable for users with finger dexterity, while the chin joystick provided an alternative for those with limited upper limb movement but was slower. The eye-gaze interface enabled control for individuals with severe impairments, offering high accuracy but requiring intact eye movement. The AssistKey keypad allowed efficient mode switching but needed ergonomic improvements for broader usability. The findings highlight the need for customizable assistive technologies to enhance independence for individuals with disabilities, with each control system offering distinct strengths and limitations based on users’ motor abilities.

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Evaluation of Different Control Systems of Wheelchair-Mounted Assistive Robotic Arm in Performing Activities of Daily Living

  • 会议论文

  • 发表日期：

    2025年

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  • Md Ishrak Islam Zarif,
  • Md Samiul Haque Sunny,
  • Nayan Banik,
  • Emily Hope Robann Longwell-Grice,
  • Sheikh Iqbal Ahamed,
  • Inga Wang,
  • Mohammad H. Rahman

摘要

Approximately 6.8 million people in the US use assistive technologies for mobility, with 25% relying on wheelchairs. Many require assistance with activities of daily living such as dressing, grooming, and eating. The Multifunctional robotic assistive arm (mR2A), developed by the BioRobotics Lab at the University of Wisconsin Milwaukee, offers a high-tech solution for powered wheelchair users, supporting various control interfaces: finger joystick, chin-controlled joystick, eye-gaze, and AssistKey keypad. This study evaluated these control systems with ten healthy participants performing pick-and-place tasks. Results showed a 100% task completion. The finger joystick was precise and fast, suitable for users with finger dexterity, while the chin joystick provided an alternative for those with limited upper limb movement but was slower. The eye-gaze interface enabled control for individuals with severe impairments, offering high accuracy but requiring intact eye movement. The AssistKey keypad allowed efficient mode switching but needed ergonomic improvements for broader usability. The findings highlight the need for customizable assistive technologies to enhance independence for individuals with disabilities, with each control system offering distinct strengths and limitations based on users’ motor abilities.