Human-Machine Interface for Controlling a Light Robotic Arm by Persons with Special Needs

摘要

Conventional electric wheelchairs are usually controlled by joysticks or by hand gesture technologies, which cannot meet the needs of persons with acute special needs - persons who have limb movement limitations and can barely move or turn their head. For them, adapted machine user interfaces where created. But other challenges remained - as the possibility to interact with the surroundings, not only to navigate thru them. Recent studies reveal that the technological developments offered a real opportunity for the creation of different support devices, which to compensate for the loss of mobility. In the past, the only alternative to exceed these limitations was to ask for human help. One of the most common solutions of those support devices are the robotic light arms, especially the ones specially designed to be mounted on wheelchairs to help users perform handling tasks. This paper describes a smart power wheelchair equipped with artificial vision sensors and a robotic arm designed to be used in applications for people with physical disabilities. We present a human-machine interface that allows the control of the robotic arm movements using the eye tracking sensor.