Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.

中文翻译：

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“我想要那个”：轮椅安装机器人手臂的人在环控制

安装在轮椅上的机械臂已经商业化了十年。为了操作这些机械臂，用户必须具有高水平的认知功能。我们的研究重点是用基于视觉的系统替换制造商提供的基于菜单的界面，同时增加自主性以减少认知负担。用户无需手动分解和执行任务，而是明确指定最终目标，然后系统自动检索对象。在本文中，我们介绍了一个完整的系统，该系统可以从架子上自动检索所需的对象。我们还展示了一项为期15周的研究结果，其中12个目标人群参加了我们的系统研究，总共198次试验。