Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility

TL;DR

This study evaluates an adaptive shared control system for assistive robotics tailored for users with limited upper limb mobility, demonstrating high success rates and positive user feedback across different input devices.

Contribution

It introduces an adaptive Degrees of Freedom control method and assesses its effectiveness and user acceptance in real-world tasks for individuals with impairments.

Findings

High success rates in task completion across devices

Participants adapted quickly and reported positive experiences

Effective management of tasks within short time frames

Abstract

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically tailored for individuals with upper limb impairments. It employs a between-subjects analysis with 24 participants, conducting 81 trials across three distinct input devices in a realistic everyday-task setting. Given the diverse capabilities of the vulnerable target demographic and the known challenges in statistical comparisons due to individual differences, the study focuses primarily on subjective qualitative data. The results reveal consistently high success rates in trial completions, irrespective of the input device used. Participants appreciated their involvement in the research process, displayed a positive outlook, and quick adaptability to the control system. Notably, each participant effectively managed the given task within a short time frame.