Evaluation of active wearable assistive devices with human posture reproduction using a humanoid robot*

This study proposes a quantitative evaluation method for assessing active wearable assistive devices that can efficiently support the human body. We utilize a humanoid robot to simulate human users wearing assistive devices owing to various advantages offered by the robot such as quantitative torque measurement from sensors and highly repeatable motion. In this study, we propose a scheme for estimating the supportive torques supplied by a device called stationary torque replacement. To validate the reliability of this evaluation method by using a humanoid robot, we conducted measurements of human muscular activity during assisted motion. Analysis of the measured muscle activity revealed that a humanoid robot closely simulates the actual usage of assistive devices. Finally, we showed the feasibility of the proposed evaluation method through an experiment with the humanoid robot platform HRP-4 and the Muscle Suit active assistive device. With the proposed method, the supportive effects of the assistive device could be measured quantitatively in terms of the static supportive torque acting directly on the body of a simulated human user.     

The interaction experiences of visually impaired people with assistive technology: A case study of smartphones

Globally, the number of visually impaired people is large and increasing. Many assistive technologies are being developed to help visually impaired people, because they still have difficulty accessing assistive technologies that have been developed from a technology-driven perspective. This study applied a user-centered perspective to get different and hopefully deeper understanding of the interaction experiences. More specifically, this study focused on identifying the unique interaction experiences of visually impaired people when they use a camera application on a smartphone. Twenty participants conducted usability testing using the retrospective think aloud technique. The unique interaction experiences of visually impaired people with the camera application, and relevant implications for designing assistive technologies were analyzed.Relevance to industryThe considerations for conducting usability testing and the results of this study are expected to contribute to the design and evaluation of new assistive technologies based on smartphones.     

Assistive robot application based on an RFID control architecture and a wireless EOG interface

This paper describes an assistive robot application that combines a portable wireless interface based on electrooculography (EOG) and Radiofrequency Identification (RFID) technology. This assistive application is aimed at handicapped users who suffer from a severe motor disability. To that end, a realistic application has been designed. It consists of an environment in which users can bring a glass and a water bottle closer with only the help of their eye movement using a real robot arm. RFID will be used as a support to the EOG interface in a shared control architecture by storing information of the objects in tags placed on the scene. Five volunteers tested the assistive robot application. The results obtained show that all of them were able to finish the tests in a suitable time and the results improved with practice and training. This proves that the assistive robot application can be a feasible way to help handicapped users.     

Intelligent Control for Robotic Rehabilitation after Stroke

The paper presents a new control approach to robot-assisted rehabilitation for stroke patients. The control architecture is represented in terms of a hybrid system model combining a high-level and a low-level assistive controller. The high-level controller is designed to monitor the progress and safety of the rehabilitation task. The high-level controller also makes decisions on the modification of the task that might be needed for the therapy. A design of a low-level assistive controller that provides robotic assistance for an upper arm rehabilitation task and works in coordination with the proposed high-level controller is discussed. Experimental results on unimpaired participants are presented to demonstrate the efficacy of both the high-level and low-level assistive controllers.     

Involving domain experts in assistive technology research

Teams engaging in assistive technology research should include expertise in the domain of disability itself, in addition to other areas of expertise that are more typical in human–computer interaction (HCI) research, such as computer science and psychology. However, unexpected problems can arise when HCI researchers do not adequately plan the involvement of domain experts in a research project. Although many research teams have included domain experts when designing assistive technologies, there has been little work published on how to best involve these experts in the research process. This paper is a first step towards filling that void. Based on the authors’ own experiences involving domain experts in research, as well as those documented in the literature, five types of domain experts and three broad roles that domain experts can play are identified, and five guidelines for their involvement are presented. This analysis will be useful to anyone in the assistive technology and universal accessibility communities, especially those who are in the early stages of conducting research in this area. It is intended to lay the foundation of best practices for involving domain experts in assistive technology research.     

Pneumatic walking assistive device for use over long period

Humans can adapt to and effectively walk on different kinds of surfaces and in various environments, but fatigue is inevitable when walking or even just standing for long periods, especially when carrying heavy objects. Methods for assisting walking or standing work are in demand, but most research thus far has been focused on using electricity to implement both interlocking and assistive power; this approach has the drawback of high-energy consumption. Therefore, we previously developed a lightweight assistive device that stores part of the kinetic energy generated during the leg swing-to-leg contact phases, and uses this energy to effectively assist during the stance phase. The developed device comprises surge tanks, an air cylinder, and other components arranged in a simple configuration and interlocked with walking by using a simple sensing system, therefore, making it suitable for use over long periods. This paper presents experimental measurements of the assistive force generated using the proposed device when it is attached to human subjects. The measurements were conducted under predicted usages to evaluate the assistive performance of the proposed device, and the measurement results demonstrate its effectiveness.     

Biomechanical analysis of peak and cumulative spinal loads during simulated patient-handling activities: a substudy of a randomized controlled trial to prevent lift and transfer injury of health care workers

Back injuries are a serious problem for nursing personnel who perform frequent patient-handling activities. Common prevention strategies include body mechanics education, technique training, and ergonomic interventions such as the introduction of assistive equipment. This investigation assessed and compared the effectiveness of two patient-handling approaches to reducing injury risk. One strategy involved using improved patient-handling technique with existing equipment, and the other approach aimed at eliminating manual patient handling through the use of additional mechanical and other assistive equipment. Both intervention arms received training in back care, patient assessment, and use of the equipment available on their particular wards. An analysis of compliance with interventions and the effects of patient-handling methods on both peak and cumulative spinal compression and shear during various tasks was conducted. Results showed greater compliance with interventions that incorporated new assistive patient-handling equipment, as opposed to those consisting of education and technique training alone. In several tasks, subjects who were untrained or non-compliant with interventions experienced significantly higher peak spinal loading. However, patient-handling tasks conducted with the aid of assistive equipment took substantially longer than those performed manually. This, along with variations in techniques, led to increases in cumulative spinal loading with the use of patient-handling equipment on some tasks. Thus, the use of mechanical assistive devices may not always be the best approach to reducing back injuries in all situations. No single intervention can be recommended; instead all patient-handling tasks should be examined separately to determine which methods maximize reductions in both peak and cumulative lumbar forces during a manoeuver.     

A goal-oriented,ontology-based methodology to support the design of AAL environments

One of the most critical issues in Ambient Assisted Living (AAL) is the design of systems that can evolve to meet the requirements of individuals as their needs and health conditions change. Although much work has been done on home and building automation systems for AAL, often referred to as assistive domotics, there is in fact still a substantial lack of solutions capable to support system designers in the early stage of development of such assistive systems. To this aim, the work contributes to the research on design of assistive domotic systems by presenting an ontology-driven methodology aimed to guide the development process. The novel contributions of the paper include the goal-oriented approach of the methodology, which involves the elicitation and analysis of AAL requirements and their formal representation in an ontology, where high-level goals are described in terms of subgoals and tasks, that are then linked to corresponding measures and devices. Moreover, logic-based reasoning enables more advanced functionalities useful at design time. We present a validation of the methodology showing typical use cases both related to the development from scratch of a domotic system with assistive capabilities starting from a set of high-level user requirements and the redesign of existing implementations according to changed requirements.     

Electromyographic evaluation of a bed assistive device for abdominal surgery patients in postoperative care

OBJECTIVE: Muscle activity with and without the use of commercially available patient assistive devices during bed rising and lowering was quantified. BACKGROUND: Limited research is available in understanding or evaluating the physical benefits of assistive devices for patient use following major abdominal surgery. METHODS: Twenty healthy participants (9 men, 11 women) took part in a laboratory study to test the effects of device configuration (five levels) and bed elevation angle (0 degree and 30 degrees) on mean and peak upper and lower rectus abdominis and external oblique concentric and eccentric muscle activity. RESULTS: Reduced muscle activity was associated with the use of an assistive device, as compared with manual bed rising (unassisted). Positioning the devices at a higher anchor height and/or increasing the bed elevation angle further reduced muscle activity. Objective and subjective differences between the two assistive devices evaluated in the study were found. CONCLUSION: These results suggest that self-assistive devices may speed recovery because of reduced loads on damaged tissues. APPLICATION: Potential applications of this research include the assessment of other commercially available lift aids or comparisons of self-assistive lift aids with hospital-housed lift aids used to speed recovery rates.     

(Computer) Vision without Sight

Computer vision holds great promise for helping persons with blindness or visual impairments (VI) to interpret and explore the visual world. To this end, it is worthwhile to assess the situation critically by understanding the actual needs of the VI population and which of these needs might be addressed by computer vision. This article reviews the types of assistive technology application areas that have already been developed for VI, and the possible roles that computer vision can play in facilitating these applications. We discuss how appropriate user interfaces are designed to translate the output of computer vision algorithms into information that the user can quickly and safely act upon, and how system-level characteristics affect the overall usability of an assistive technology. Finally, we conclude by highlighting a few novel and intriguing areas of application of computer vision to assistive technology.     

New evaluation framework for human-assistive devices based on humanoid robotics

This paper presents the new application of a humanoid robot as an evaluator of human-assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot’s mechanical properties. We also show two approaches to estimate supporting torques from the sensor data, which can be used properly according to the situations. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. We evaluate a passive assistive wear ‘Smart Suit Lite (SSL)’ as an example of device, and use HRP-4 as the humanoid platform.     

Assistive mobility devices focusing on Smart Walkers: Classification and review

In an aging society it is extremely important to develop devices, which can support and aid the elderly in their daily life. This demands means and tools that extend independent living and promote improved health.Thus, the goal of this article is to review the state of the art in the robotic technology for mobility assistive devices for people with mobility disabilities. The important role that robotics can play in mobility assistive devices is presented, as well as the identification and survey of mobility assistive devices subsystems with a particular focus on the walkers technology. The advances in the walkers’ field have been enormous and have shown a great potential on helping people with mobility disabilities. Thus it is presented a review of the available literature of walkers and are discussed major advances that have been made and limitations to be overcome.     

Real-time compliance control of an assistive joint using QNX operating system

An assistive robot is a novel service robot, playing an important role in the society. For instance, it can amplify human power not only for the elderly and disabled to recover/rehabilitate their lost/impaired musculoskeletal functions but also for healthy people to perform tasks requiring large forces. Consequently, it is required to consider both accurate position control and human safety, which is the compliance. This paper deals with the robot control compliance problem based on the QNX real-time operating system. Firstly, the mechanical structure of a compliant joint on the assistive robot is designed using Solidworks. Then the parameters of the assistive robot system are identified. The software of robot control includes data acquisition and processing, and control to meet the compliance requirement of the joint control. Finally, a Hogan impedance control experiment is carried out. The experimental results prove the effectiveness of the method proposed.     

Cognitive and context-aware assistive environments using future internet technologies

Future Internet (FI) technologies are introducing new ways of networking and cognitive data delivery. In this paper, the potential of FI-based architectures for enabling the context-aware content adaptation and specialized delivery of health related information in assistive environments is investigated. The proposed system utilizes the publish/subscribe internetworking (PSI) architecture, an information-oriented architecture built for the FI using the so-called publish/subscribe paradigm. Information is brought at the center of the approach, providing several advantages: flexibility, seamless information morphing and exploitation of context, access control, and security in general. In addition to an overview of the approach and its characteristics, this work also presents the implementation of a subset of an assistive environment, using Blackadder, PSI’s prototype, and illustrates its potential with an emergency service scenario for the assistive healthcare domain.     

基于运动预测和阻抗控制的未知受限机构操作

针对服务机械臂操作各种未知受限运动机构的需要,提出了一种基于运动预测和阻抗控制的控制方法,本方法采用试探一预测一修正的滚动操作策略,通过阻抗控制保证机械臂与未知受限机构交互的柔性.首先试探受限机构的运动能力,根据已有操作臂运动轨迹估计受限机构的运动模型,然后预测受限机构的运动方向,进而修正机械臂的运动轨迹,并根据交互作...     

User evaluation of a novel eye-based control modality for robot-assisted object retrieval

In recent years, great efforts have been put into the investigation of assistive robotics. However, rapid growth in robot functionality has caused control of these robots to become more complex. Natural interaction interfaces between the user and robot systems are highly desired to promote the usability of these robots in practical applications. This paper presents a novel intuitive gaze-based system, which enables a user to effectively command an assistive robot with his/her gaze. This system has the potential to help those, who have limited mobility and/or are confined in bed, with their daily living. Using this system, the object that needs to be manipulated can be directly identified and localized by simply looking at it by the user. Then the assistive robot is activated to perform appropriate manipulation of the object. In the experiments, participants were able to successfully accomplish the object retrieval tasks using the presented system. Moreover, results from subjective evaluation showed high usability of the presented system.     

Speech and Language processing as assistive technologies

We are delighted to bring you this special issue on speech and language processing for assistive technology. It addresses an important research area that is gaining increased recognition from researchers in speech and language processing as a rich and fulfilling area on which to focus their work, and by researchers in assistive technology as the means to dramatically improve communication technologies for individuals with disabilities. This special issue brings a wide swath of approaches and applications highlighting the variety this area offers.     

Mobile text-entry and visual demands: reusing and optimizing current solutions

Mobile devices are increasingly used for text-entry in contexts where visual attention is fragmented and graphical information is inadequate, yet the current solutions to typing on virtual keyboards make it a visually demanding task. This work looks at assistive technologies and interface attributes as tools to ease the task. Two within-subject experiments were performed with 23 and 17 participants, respectively. The first experiment aimed to understand how walking affected text-entry performance and additionally to assess how effective assistive technologies can be in mobile contexts. In the second experiment, adaptive keyboards featuring character prediction and pre-attentive attributes to ease visual demands of text-entry interfaces were developed and evaluated. It has been found that both text-input speed and overall quality are affected in mobile situations. Contrary to the expectations, assistive technologies proved ineffective with visual feedback. The second experiment showed that pre-attentive attributes do not affect users’ performance in task-entry tasks, even though a 3.3–4.3 % decrease in error rates was measured. It was found that users reduce walking speed to compensate for challenges placed by mobile text-entry. Caution should be exercised when transferring assistive technologies to mobile contexts, since they need adaptations to address mobile users’ needs. Also, while pre-attentive attributes seemingly have no effect on experienced QWERTY typists’ performance, they showed promise for both novice users and typists in attention-demanding contexts.     

Socially assistive robotics [Grand Challenges of Robotics]

Socially intelligent robotics is the pursuit of creating robots capable of exhibiting natural-appearing social qualities. Beyond the basic capabilities of moving and acting autonomously, the field has focused on the use of the robot's physical embodiment to communicate and interact with users in a social and engaging manner. One of its components, socially assistive robotics, focuses on helping human users through social rather than physical interaction. Early results already demonstrate the promises of socially assistive robotics, a new interdisciplinary research area with large horizons of fascinating and much needed research. Even as socially assistive robotic technology is still in its early stages of development, the next decade promises systems that will be used in hospitals, schools, and homes in therapeutic programs that monitor, encourage, and assist their users. This is an important time in the development of the field, when the board technical community and the beneficiary populations must work together to shape the field toward its intended impact on improved human quality of life