Recent Advances on Human-Robot Interface of Wheelchair-Mounted Robotic Arm

摘要

Background: Wheelchair mounted robotic arm is a typical assistive robot, which is widelyused to help the elders and the disabled to complete the activities of daily life. But limited by the restrictionsof the users’ athletic ability and cognitive ability, how to flexibly manipulate such robot isstill a problem in front of them. The human-computer interaction technology is the core technology ofthe robot. Its performance directly affects the user's acceptability, satisfaction and promotion of intelligentwheelchairs.Objective: The study aims to give a general summary of recent human-robot interface of wheelchairmounted robotic arm and introduce their respective characteristics.Methods: Based on various patents and research developments about the human-robot interface of theassistive robot at home and abroad, this paper puts forward the basic principle of designing the humanrobotinteraction mode, divides the man-robot interface into two categories based on the perspective ofuser control robot arm, and describes in detail, the typical human-robot interface and its related characteristicscontained in each classification.Results: The development trends of the human-robot interface in future are predicted, so as to providesome research reference for the related scientific researchers.Conclusion: Wheelchair mounted robotic arm has important practical significance. Further improvementsare needed in the design of the human-robot interface. It can effectively improve the operationperformance of the WMRA, and take full advantage of the user’s existing movement ability to meet therequirement of dominating the control process. Furthermore, these improvements in the human-robotinterface will allow more and more users to accept the WMRA, manipulate the WMRA, and enjoyimprovements in the quality of their life for these assistive robots.