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Shared Control of Supernumerary Robotic Limbs Using Mixed Realityand Mouth-and-Tongue Interfaces.

Hongwei Jing1, Sikai Zhao1, Tianjiao Zheng1

  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150006, China.

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Summary

Shared control enhances Supernumerary Robotic Limb (SRL) operation by blending autonomous and voluntary user input. This approach balances efficiency and user experience for intuitive control in complex tasks.

Keywords:
human augmentationhuman–robot interactionmouth-and-tongue devicesupernumerary robotic limbswearable robotic limbs

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Area of Science:

  • Human-Robot Interaction
  • Robotics
  • Control Systems

Background:

  • Supernumerary Robotic Limbs (SRLs) offer enhanced operational capabilities but face control challenges when human limbs are occupied.
  • Existing control methods like electromyography (EMG) and redundant limb control have limitations in degrees of freedom and data complexity.
  • Fully autonomous control lacks real-time user adjustability, while voluntary control can be inefficient for complex tasks.

Purpose of the Study:

  • To develop and evaluate a shared control system for Supernumerary Robotic Limbs (SRLs) using a mixed reality (MR) interface.
  • To enable dynamic switching between voluntary and autonomous control for flexible and efficient SRL operation.
  • To investigate the feasibility and advantages of shared control in comparison to autonomous and voluntary control modes.

Main Methods:

  • Integration of a mixed reality (MR) device with a mouth-and-tongue interface for SRL control.
  • Development of a random forest model to classify 14 distinct tongue and mouth operations for mapping to six-degree-of-freedom SRL control.
  • Comparative experiments with ten healthy subjects performing assembly tasks under shared, autonomous, and voluntary control modes.

Main Results:

  • Shared control demonstrated a balance between machine autonomy and human input.
  • While autonomous control showed higher task efficiency, shared control achieved greater task success rates.
  • Shared control improved user experience by combining the benefits of autonomous and voluntary control.

Conclusions:

  • The study validates the feasibility of shared control for Supernumerary Robotic Limbs (SRLs).
  • Shared control offers advantages in flexibility, allowing seamless switching between autonomy and user intervention.
  • This approach provides new insights into intuitive and effective SRL control for enhanced human-robot collaboration.