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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2020 23rd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2020
編集者Balint Kiss, Istav Harmati, Zafar Taqvi
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781665404792
DOI
出版ステータスPublished - 2020 10 15
イベント23rd IEEE International Symposium on Measurement and Control in Robotics, ISMCR 2020 - Budapest, Hungary
継続期間: 2020 10 152020 10 17

出版物シリーズ

名前2020 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
国/地域Hungary
CityBudapest
Period20/10/1520/10/17

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 人間とコンピュータの相互作用
  • 制御と最適化
  • 器械工学

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