Gaze Controlled Safe HRI for Users with SSMI

Sharma, VK and Biswas, P (2021) Gaze Controlled Safe HRI for Users with SSMI. In: 20th International Conference on Advanced Robotics, ICAR 2021, 6-10 Dec 2021, Ljubljana, pp. 913-918.

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Abstract

Robots are already used for rehabilitation of people with disabilities mainly in the form of prosthetics or exoskeleton. This paper proposes a Markov Decision Process based safe distance maintenance algorithm to make a small robotic manipulator accessible to users with severe speech and motor impairment (SSMI). We have developed a video see through eye gaze controlled graphical user interface for operating the robotic arm while an intelligent agent monitors presence of users' hand in the vicinity of the robot and plans a navigation path using value iteration algorithm. A user study involving 5 users with SSMI and 7 able-bodied users found the system safe and usable by all users undertaking tasks within 3 minutes and significant decrease in task completion time with practice. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 20th International Conference on Advanced Robotics, ICAR 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Exoskeleton (Robotics); Graphical user interfaces; Intelligent robots; Manipulators; Markov processes, Eye-gaze; Maintenance algorithms; Markov Decision Processes; Motor impairments; Navigation paths; People with disabilities; Process-based; Robotic manipulators; Safe distance; Value iteration algorithm, Iterative methods
Department/Centre:	Division of Mechanical Sciences > Centre for Product Design & Manufacturing
Date Deposited:	09 Mar 2022 10:25
Last Modified:	09 Mar 2022 10:25
URI:	http://eprints.iisc.ac.in/id/eprint/71473

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