Autonomous or Manual Control? Qualitative Analysis of Control Perceptions From Current Robotic Arm Owners.

摘要

Assistive Robotic Manipulators (ARMs) provide individuals with upper limb impairments the ability to independently manipulate objects for Activities of Daily Living (ADLs). In this qualitative study, we interviewed eleven current ARM owners to gather information on how they assess different ARM control methods as well as their perceptions on autonomous behavior for the ARM. Information was gathered by presenting a video demonstrating three control interfaces using touchscreen, voice, and software autonomy, and asking guided questions about opinions and perceptions of each interface. The results of this study show that ARM users prefer autonomy, but do not want their sense of control taken away by the robot. Another insight is that ARM users may benefit from using a combination of different control modalities for different situations, rather than relying on one specific control modality. The types of control modalities that should be used also varies among people with different disabilities and preferences, meaning there is not one control modality that is favored by all. Rather, each individual prefers different control interfaces depending on their needs. By analyzing the perspectives of current ARM owners, common frustrations and desires can be addressed for future ARM control development