In-home and remote use of robotic body surrogates by people with profound motor deficits

By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit further investigation.Comment: 43 Pages, 13 Figure

Editorial: Variability in language predictions: assessing the influence of speaker, text and experimental method

Editorial on the research topic "Variability in language predictions: assessing the influence of speaker, text and experimental method"

Autobed: A Web-Controlled Robotic Bed

We (the Healthcare Robotics Lab at Georgia Tech) have developed an additional module for an Invacare fully electric hospital bed (Model 5410IVC) so that the bed can be controlled from a web-based interface. This module can be easily plugged between the hand control and the Invacare bed, without having to modify any existing hardware on the bed. We call a bed so modified an 'Autobed.' With this feature, users who are unable to operate the standard bed controls, but can access a web browser, are able to position the bed by themselves without having to rely on a caregiver (for example, patients with quadriplegia). This page describes how to make the Autobed module using relatively inexpensive, commercially available hardware. This document is a representation of the content provided at http://hsi.gatech.edu/hrl/project_autobed_v2.shtml as of February 15th, 2016, and is intended to create a lasting, citable, and archival copy of this material, which details the design and instructions for building the 'Autobed' device

SHAPE analysis of the FIV Leader RNA reveals a structural switch potentially controlling viral packaging and genome dimerization

Feline immunodeficiency virus (FIV) infects many species of cat, and is related to HIV, causing a similar pathology. High-throughput selective 2′ hydroxyl acylation analysed by primer extension (SHAPE), a technique that allows structural interrogation at each nucleotide, was used to map the secondary structure of the FIV packaging signal RNA. Previous studies of this RNA showed four conserved stem–loops, extensive long-range interactions (LRIs) and a small, palindromic stem–loop (SL5) within the gag open reading frame (ORF) that may act as a dimerization initiation site (DIS), enabling the virus to package two copies of its genome. Our analyses of wild-type (wt) and mutant RNAs suggest that although the four conserved stem–loops are static structures, the 5′ and 3′ regions previously shown to form LRI also adopt an alternative, yet similarly conserved conformation, in which the putative DIS is occluded, and which may thus favour translational and splicing functions over encapsidation. SHAPE and in vitro dimerization assays were used to examine SL5 mutants. Dimerization contacts appear to be made between palindromic loop sequences in SL5. As this stem–loop is located within the gag ORF, recognition of a dimeric RNA provides a possible mechanism for the specific packaging of genomic over spliced viral RNAs

In-home and remote use of robotic body surrogates by people with profound motor deficits

By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit furthe

Autobed: Open Hardware for Accessible Web-based Control of an Electric Bed

Individuals with severe motor impairments often have difficulty operating the standard controls of electric beds and so require a caregiver to adjust their position for utility, comfort, or to prevent pressure ulcers. Assistive human-computer interaction devices allow many such individuals to operate a computer and web browser. Here, we present the Autobed, a Wi-Fi-connected device that enables control of an Invacare Full-Electric Homecare Bed, a Medicare-approved device in the US, from any modern web browser, without modification of existing hardware. We detail the design and operation of the Autobed. We also examine its usage by one individual with severe motor impairments and his primary caregiver in their own home, including usage logs from a period of 102 days and detailed questionnaires. Finally, we make the entire system, including hardware design and components, software, and build instructions, available under permissive open-source licenses

Assistive mobile manipulation for users with severe motor impairments

Mobile robots that can physically manipulate their environments have the potential to help persons with motor impairments perform a variety of tasks, including self-care tasks. Such assistive mobile manipulators (AMMs) could increase independence and reduce the burden placed on caregivers. However, general-purpose AMMs are complex systems with many sensors and actuators, and so are often difficult for non-experts to operate. Through user-centered research, we have developed software enabling the use of a general-purpose robot as an accessible AMM to address these challenges. This process has included a long-term collaboration with an individual with severe quadriplegia, Henry Evans, and his wife and primary caregiver, Jane Evans. We evaluated our system with 15 inexperienced users with severe motor impairments from around the country. These participants, having a variety of sources of impairment and using a variety of accessible computer interfaces, operated the robot remotely to perform both a standardized clinical manipulation assessment and a simulated self-care task. When operating the robot, they achieved a significant improvement over the use of their own limbs, and their improvement on the clinical assessment exceeded a conservative estimate of the minimal clinically important difference. Furthermore, their feedback provided support for the likelihood of technology adoption, despite slow task completion. We also evaluated our system during a seven-day deployment in Henry Evans' home. During this study, Henry operated the robot for over 22.5 hours in 16 separate sessions, successfully performing more than 18 distinct tasks, some numerous times. Our study demonstrates the broad capability of general-purpose AMMs and provides a baseline for teleoperation performance.Ph.D

The Wouse: A Wearable Wince Detector to Stop Assistive Robots

©2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Presented at 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, September 9-13, 2012.DOI: 10.1109/ROMAN.2012.6343748Persons with severe motor impairments depend heavily upon caregivers for the performance of everyday tasks. Ongoing work is exploring the potential of giving motor-impaired users control of semi-autonomous assistive mobile manipulators to enable them to perform some self-care tasks such as scratching or shaving. Because these users are less able to escape a robot malfunction, or operate a traditional run-stop, physical human-robot interaction poses safety risks. We review approaches to safety in assistive robotics with a focus on accessible run-stops, and propose wincing as an accessible gesture for activating a run-stop device. We also present the wouse, a novel device for detecting wincing from skin movement near the eye, consisting of optical mouse components mounted near a user's temple via safety goggles. Using this device, we demonstrate a complete system to run-stop a Willow Garage PR2 robot, and perform two preliminary user studies. The first study examines discrimination of wincing from self-produced facial expressions. The results indicate the possibility for discrimination, though variability between users and inconsistent detection of skin movement remain significant challenges. The second experiment examines discrimination of wincing from external mechanical manipulations of the face during self-care tasks. The results indicate that the wouse, using a classifier trained with data from the first experiment, can be used during face-manipulation tasks. The device produced no false positives, but succeeded in correctly identifying wincing events in only two of four subjects

Variability in language predictions: Assessing the influence of speaker, text and experimental method

Prediction is a central mechanism in the human language processing architecture. The psycholinguistic and neurolinguistic literature has seen a lively debate about what form prediction may take and what status it has for language processing in the human mind and brain. While predictions are a ubiquitous finding, the implications of these results for models of language processing differ. For instance, eyetracking data suggest that predictions may rely on sublexical orthographic information in natural reading, while electrophysiological data provide mixed evidence for form-based predictions during reading. Other research has revealed that humans rapidly adapt to text specifics and that their predictive capacity varies, broadly speaking, in accordance with inter- and intra-individual language proficiency, which cuts across the speaker groups (e.g. L1 vs. L2 speakers, skilled vs. untrained readers) traditionally used for experimental contrasts. There is therefore evidence that the kind and strength of linguistic predictions depend on (at least) three sources of variability in language processing: speaker, text genre and experimental method. The aim of this Research Topic is to develop a better understanding of prediction in light of the three sources of variability in language processing, by providing an overview of state-of-the art research on predictive language processing and by bringing together research from various disciplines. First, intra-and inter-individual differences and their influence on predictive processes remain underrepresented in experimental research on predictive processing. How do language users differ in their predictive abilities and strategies, and how are these differences shaped by e.g. biological, social and cultural factors? Second, while language users experience great stylistic diversity in their daily language exposure and use, the majority of language processing research still focuses on a very constrained register of well-controlled sentences composed in the standard language. How are predictions shaped by extra- and meta-linguistic context, such as register/genre or accent/speaker identity, and how may this influence the processing of experimental items in another language or text variety? Third, the Research Topic invites contributions that make use of a multi-method approach, such as combined behavioral and electrophysiological measures or experimental methods combined with measures extracted from corpus data. What opportunities and challenges do we face when integrating multiple approaches to examine linguistic, experimental and individual differences in human predictive capacity? We welcome contributions from all areas of empirical psycho- and neurolinguistics, but contributions must explicitly address variability and variation in language and language processing. Relevant topics include individual differences and the impact of genre, modality, register and language variety. Contributions that go beyond single word and single sentence paradigms are especially desirable. Experimental, corpus-based, meta-analytic and review papers, as well as theoretical/opinion pieces are welcome; however, papers of the latter type should support their arguments with substantial empirical evidence from the literature. Particularly desirable are contributions which combine topics and/or methods, such as the impact of an individual's native dialect on processing of constructions that show variability in the standard language (e.g. choice of auxiliary, agreement of mass nouns, etc.) or experimental methods combined with measures extracted from corpus data such as information-theoretic surprisal

A system for bedside assistance that integrates a robotic bed and a mobile manipulator.

Various situations, such as injuries or long-term disabilities, can result in people receiving physical assistance while in bed. We present a robotic system for bedside assistance that consists of a robotic bed and a mobile manipulator (i.e., a wheeled robot with arms) that work together to provide better assistance. Many assistive tasks depend on moving with respect to the person's body, and the complementary physical and perceptual capabilities of the two robots help with respect to this general goal. The system provides autonomy for common tasks, as well as an interface for direct teleoperation of the two robots. Autonomy handles coarse motions of the robots by estimating the person's pose using a pressure sensing mat and then moving the robots to configurations optimized for the task. After completing these motions, the user is given fine control of the robots to complete the task. In an evaluation using a medical mannequin, we found that the robotic bed's motion and perception each improved the assistive robotic system's performance. The system achieved 100% success over 9 trials involving 3 tasks. Using the system with the bed movement or the body pose estimation capabilities turned off resulted in success in only 33% or 78% of the trials, respectively. We also evaluated our system with Henry Evans, a person with severe quadriplegia, in his home. In a formal test, Henry successfully used the bedside-assistance system to perform 3 different tasks, 5 times each, without any failures. Henry's feedback on the system was positive regarding usefulness and ease of use, and he noted benefits of using our system over fully manual teleoperation. Overall, our results suggest that a robotic bed and a mobile manipulator can work collaboratively to provide effective personal assistance and that the combination of the two robots is beneficial