Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users
Wheelchair-mounted assistive robotic manipulators can provide reach and grasp functions for power wheelchair users. This in-lab study evaluated a vision-guided shared control (VGS) system with twelve users completing two multi-step kitchen tasks: a drinking task and a popcorn making task. Using a mi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/15/4768 |
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| author | Breelyn Kane Styler Wei Deng Cheng-Shiu Chung Dan Ding |
| author_facet | Breelyn Kane Styler Wei Deng Cheng-Shiu Chung Dan Ding |
| author_sort | Breelyn Kane Styler |
| collection | DOAJ |
| description | Wheelchair-mounted assistive robotic manipulators can provide reach and grasp functions for power wheelchair users. This in-lab study evaluated a vision-guided shared control (VGS) system with twelve users completing two multi-step kitchen tasks: a drinking task and a popcorn making task. Using a mixed methods approach participants compared VGS and manual joystick control, providing performance metrics, qualitative insights, and lessons learned. Data collection included demographic questionnaires, the System Usability Scale (SUS), NASA Task Load Index (NASA-TLX), and exit interviews. No significant SUS differences were found between control modes, but NASA-TLX scores revealed VGS control significantly reduced workload during the drinking task and the popcorn task. VGS control reduced operation time and improved task success but was not universally preferred. Six participants preferred VGS, five preferred manual, and one had no preference. In addition, participants expressed interest in robotic arms for daily tasks and described two main operation challenges: distinguishing wrist orientation from rotation modes and managing depth perception. They also shared perspectives on how a personal robotic arm could complement caregiver support in their home. |
| format | Article |
| id | doaj-art-7b8b2bef0fc74046b6873213ca88a390 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-7b8b2bef0fc74046b6873213ca88a3902025-08-20T03:36:34ZengMDPI AGSensors1424-82202025-08-012515476810.3390/s25154768Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair UsersBreelyn Kane Styler0Wei Deng1Cheng-Shiu Chung2Dan Ding3Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA 15206, USAHuman Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA 15206, USAHuman Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA 15206, USAHuman Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA 15206, USAWheelchair-mounted assistive robotic manipulators can provide reach and grasp functions for power wheelchair users. This in-lab study evaluated a vision-guided shared control (VGS) system with twelve users completing two multi-step kitchen tasks: a drinking task and a popcorn making task. Using a mixed methods approach participants compared VGS and manual joystick control, providing performance metrics, qualitative insights, and lessons learned. Data collection included demographic questionnaires, the System Usability Scale (SUS), NASA Task Load Index (NASA-TLX), and exit interviews. No significant SUS differences were found between control modes, but NASA-TLX scores revealed VGS control significantly reduced workload during the drinking task and the popcorn task. VGS control reduced operation time and improved task success but was not universally preferred. Six participants preferred VGS, five preferred manual, and one had no preference. In addition, participants expressed interest in robotic arms for daily tasks and described two main operation challenges: distinguishing wrist orientation from rotation modes and managing depth perception. They also shared perspectives on how a personal robotic arm could complement caregiver support in their home.https://www.mdpi.com/1424-8220/25/15/4768assistive technologyrobotic armmixed methodsusability |
| spellingShingle | Breelyn Kane Styler Wei Deng Cheng-Shiu Chung Dan Ding Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users Sensors assistive technology robotic arm mixed methods usability |
| title | Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users |
| title_full | Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users |
| title_fullStr | Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users |
| title_full_unstemmed | Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users |
| title_short | Evaluation of a Vision-Guided Shared-Control Robotic Arm System with Power Wheelchair Users |
| title_sort | evaluation of a vision guided shared control robotic arm system with power wheelchair users |
| topic | assistive technology robotic arm mixed methods usability |
| url | https://www.mdpi.com/1424-8220/25/15/4768 |
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