A Voice Control System for Assistive Robotic Arms: Preliminary Usability Tests on Patients

Abstract

One of the major issues for the success of assistive robotics concerns the question whether patients not only accept the technology and profit from it, but also whether they can effectively use it. This is especially relevant when patients are highly impaired and present several functional limitations. Therefore, it is important to enable patients to control robots with alternative methods during their activities of daily living. This work deals with the development of a voice control system based on the ROS middleware framework. The voice control was customized on the JACO <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> (Kinova Technology, Montreal, QC, Canada), a 6 degree-of-freedom assistive robotic manipulator. Two subjects with different impairments due to a neurodegenerative disease tested the robot for usability controlling it through the JACO <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> joystick and the developed voice control system. Both subjects used the voice control system successfully and scored highly its usability. The most impaired subject preferred the voice control while, by contrast, the less impaired one preferred to use the joystick. Preliminary results showed good usability of the system, which could be an important aid for highly impaired people.