Multiple Ways of Working with Users to Develop Physically Assistive Robots

TL;DR

This paper discusses various methods for involving users with disabilities in the development of physically assistive robots, highlighting challenges, approaches, and recommendations to improve user-centered design in PAR projects.

Contribution

It presents multiple approaches to user involvement in PAR, analyzing their benefits and challenges across different dimensions, and offers practical recommendations for researchers.

Findings

Working with end-users improves technology relevance.

Different engagement approaches balance logistical and insight benefits.

Recommendations facilitate user integration in PAR development.

Abstract

Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this -- recruitment challenges, small sample sizes, and transportation logistics -- all influenced by systemic barriers that people with disabilities face. However, it is well-established that working with end-users results in technology that better addresses their needs and integrates with their lived circumstances. In this paper, we reflect on multiple approaches we have taken to working with people with motor impairments across the design, development, and evaluation of three PAR projects: (a) assistive feeding with a robot arm; (b) assistive teleoperation with a mobile manipulator; and (c) shared control with a robot arm. We discuss these approaches to working with users along three dimensions -- individual vs. community-level insight, logistic burden on end-users vs. researchers, and benefit to researchers vs. community -- and share recommendations for how other PAR researchers can incorporate users into their work.