AccessTeleopKit: A Toolkit for Creating Accessible Web-Based Interfaces for Tele-Operating an Assistive Robot

Area of Science:

• Robotics
• Human-Computer Interaction
• Assistive Technology

Background:

• Mobile manipulator robots can enhance independence for individuals with motor limitations.
• Existing robot tele-operation interfaces are often inaccessible or lack customization for users with severe motor impairments.
• Rigid, non-downloadable interfaces limit the adaptability of robotic assistance.

Purpose of the Study:

• To develop an open-source toolkit, AccessTeleopKit, for creating custom and accessible robot tele-operation interfaces.
• To address the limitations of current interfaces for users with severe motor disabilities.
• To facilitate independent daily living activities through adaptable robotic control.

Main Methods:

• Developed AccessTeleopKit, an open-source toolkit for the Stretch 3 mobile manipulator, using cursor-and-click input.
• Employed a participatory and iterative design process with long-term deployments in a quadriplegic user's home.
• Incorporated user-configurable components like buttons and camera views, and various control modes.

Main Results:

• AccessTeleopKit enabled a quadriplegic user to create diverse interfaces for varied tasks.
• Demonstrated the toolkit's flexibility in supporting a wide range of daily living activities.
• Studies with six additional users with motor limitations confirmed the toolkit's ability to create personalized interfaces.

Conclusions:

• AccessTeleopKit effectively provides customizable and accessible tele-operation interfaces for mobile manipulators.
• The toolkit empowers users with severe motor limitations to control robots for enhanced independence.
• Open-source development and participatory design are crucial for creating effective assistive robotic technologies.