有严重运动缺陷的人在家和远程使用机器人身体替代品
In-home and remote use of robotic body surrogates by people with profound motor deficits
摘要：
通过控制与人体相当的机器人，患有严重运动缺陷的人可能会为自己执行各种物理任务，提高他们的生活质量。由于缺乏合适的接口来控制机器人身体代理人，以及缺乏涉及大量患有严重运动缺陷的人的研究，这在多大程度上是可以实现的尚不清楚。我们开发了一种新颖的基于网络的增强现实界面，使运动障碍严重的人能够远程控制Willow Garage的PR2移动机械手，这是一种具有两个手臂的人类规模的轮式机器人。然后，我们进行了两项研究，调查机器人身体替代品的使用。在第一项研究中，来自美国各地的15名具有严重运动缺陷的新手用户控制了佐治亚州亚特兰大的PR2，以执行修改后的行动研究手臂测试（ARAT）和模拟自我护理任务。参与者在ARAT上取得了有临床意义的改善，15名参与者中有12名（80%）成功完成了模拟自我护理任务。与会者一致认为，机器人系统易于使用，很有用，并将为他们的生活提供有意义的改善。在第二项研究中，一名患有严重运动缺陷的专家用户在家中免费使用PR2七天。他完成了各种自我照顾和家务任务，并以新颖的方式使用机器人。将这两项研究结合在一起，我们的研究结果表明，患有严重运动缺陷的人可以使用机器人身体替代品来改善他们的生活质量，并且他们可以通过低水平的机器人自主性和无创界面来获益。然而，降低错误率和提高运算速度的方法值得进一步研究。
英文摘要：
By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit further investigation.
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