3D Head Pointer: A manipulation method that enables the spatial localization for a wearable robot arm by head bobbing

Joy Oh, Kozo Ando, Shuhei Iizuka, Lena Guinot, Fumihiro Kato, Hiroyasu Iwata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a new type of interface '3D Head Pointer' for operation of a wearable robot arm in 3D space. The developed system is aimed at assisting the user in execution of daily chores (e.g. opening an umbrella, stirring a pot) while concurrently operating wearable robot arm. Previous researches have demonstrated the difficulty in simultaneously controlling a robot arm while uninterruptedly performing another task with one's own hands. The proposed method uses a combination of the orientation of the face and head bobbing (a forward and backward movement of the head) to manipulate spatial localization in a polar coordinate system. In a Virtual Reality (VR) environment, the proposed system and its efficiency at adapting its operating magnification (IDF) by relying on the incremental changes in head bobbing were evaluated through measurement of the instructional accuracy and time demand. Experiments were conducted with 12 participants. Results displayed an accuracy of 1.3 cm with a 4 seconds time span necessary to communicate an instruction. These results, along with the confirmed ability of an individual to multi-task while operating, suggested the effectiveness of the operation method and IDF.

Original languageEnglish
Title of host publication2020 23rd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2020
EditorsBalint Kiss, Istav Harmati, Zafar Taqvi
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780738142692
DOIs
Publication statusPublished - 2020 Oct 15
Event23rd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2020 - Budapest, Hungary
Duration: 2020 Oct 152020 Oct 17

Publication series

Name2020 23rd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2020

Conference

Conference23rd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2020
CountryHungary
CityBudapest
Period20/10/1520/10/17

Keywords

  • Hands-free interface
  • Polar coordinate system
  • Teleoperation
  • VR/AR

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Control and Optimization
  • Instrumentation

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