| Title: | Experimental Validation of Interface-Aware Assistance for 7-DoF Robot Arm Teleoperation |
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| Publication Type: | Conference Paper |
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| Year of Publication: | 2023 |
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| Authors: | M. Nejati-Javaremi, L. Y. C. Loke, and B. Argall |
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| Conference Name: | International Symposium on Experimental Robotics (ISER) |
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| Publisher: | Springer Nature |
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| Conference Location: | Chiang Mai, Thailand |
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| Pages: | 22-31 |
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| Date Published: | November |
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| ISBN Number: | 9783031635953 |
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| URL: | https://link.springer.com/chapter/10.1007/978-3-031-63596-0_3 |
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| Abstract: | This paper details the development, implementation and experimental evaluation of an interface-aware, task-agnostic assistance system for shared human-robot teleoperation, specifically applied to a 7-DoF robotic arm. The system addresses a limitation of current shared-control methods by considering the impact of control interfaces on user input precision and the robot agent’s incomplete understanding of the human’s policy. The approach is evaluated in empirical case studies involving participants with spinal cord injuries. The personalized assistance system improves safety and reduces cognitive load. |
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