1 research outputs found
Human Robot Interface for Assistive Grasping
This work describes a new human-in-the-loop (HitL) assistive grasping system
for individuals with varying levels of physical capabilities. We investigated
the feasibility of using four potential input devices with our assistive
grasping system interface, using able-bodied individuals to define a set of
quantitative metrics that could be used to assess an assistive grasping system.
We then took these measurements and created a generalized benchmark for
evaluating the effectiveness of any arbitrary input device into a HitL grasping
system. The four input devices were a mouse, a speech recognition device, an
assistive switch, and a novel sEMG device developed by our group that was
connected either to the forearm or behind the ear of the subject. These
preliminary results provide insight into how different interface devices
perform for generalized assistive grasping tasks and also highlight the
potential of sEMG based control for severely disabled individuals.Comment: 8 pages, 21 figure