Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users.

Area of Science:

• Robotics
• Human-Computer Interaction
• Assistive Technology

Background:

• Power wheelchair users often face challenges with reach and grasp tasks.
• Assistive robotic manipulators offer potential solutions for enhancing independence.

Purpose of the Study:

• To evaluate a vision-guided shared control (VGS) system for wheelchair-mounted robotic arms.
• To compare VGS control with manual joystick control for kitchen tasks.

Main Methods:

• A mixed-methods study involving twelve power wheelchair users.
• Participants completed drinking and popcorn-making tasks using VGS and manual control.
• Data collected included performance metrics, System Usability Scale (SUS), NASA Task Load Index (NASA-TLX), and interviews.

Main Results:

• VGS control significantly reduced perceived workload (NASA-TLX) for both tasks.
• VGS control improved task completion time and success rates.
• No significant differences in usability (SUS) were found; user preference was divided.

Conclusions:

• VGS robotic arm control can decrease user workload and enhance task performance for power wheelchair users.
• Challenges in wrist orientation and depth perception need addressing for optimal usability.
• Robotic arms show potential to supplement caregiver support in home environments.