ABSTRACT

Play is a vital activity in which children learn skills and explore the environment through object manipulation. Assistive robots have been used to provide access to play, and Forbidden Region Virtual Fixture (FRVF) guidance at the user interface could help the users make the robot traverse the play environment more efficiently because it behaves like virtual walls to follow. Eye gaze was used to indicate the user’s intended target and generate the location of the virtual walls in a card sorting task. We eliminated the typical computer screen required for visual feedback to confirm gaze location, and examined the use of alternative feedback. In this feasibility study, first a group of adults without physical impairment tested the system with auditory and vibrotactile feedback modalities for the gaze fixation and with the virtual walls on and off for robot movement. Then case studies with children and individuals with physical impairments were performed. Even though gaze fixation feedback and the virtual wall did not improve the performance of adult participants without impairment, the feedback increased the speed and accuracy of the gaze fixation and the virtual walls improved the movement efficiency for the participants with impairment and a 6-year-old child without impairment.

摘要

游戏是一项重要的活动，孩子们可以在其中学习技能并通过操纵物体来探索环境。辅助机器人已被用于提供游戏访问权限，用户界面上的禁区虚拟夹具 (FRVF) 引导可以帮助用户更有效地使机器人穿越游戏环境，因为它的行为就像要跟随的虚拟墙。眼睛注视用于指示用户的预期目标并在卡片分类任务中生成虚拟墙的位置。我们消除了用于确认注视位置的视觉反馈所需的典型计算机屏幕，并检查了替代反馈的使用。在这项可行性研究中，首先，一组没有身体障碍的成年人使用听觉和振动触觉反馈模式测试了该系统，用于注视，并打开和关闭虚拟墙以进行机器人运动。然后对有身体障碍的儿童和个人进行案例研究。尽管注视反馈和虚拟墙并没有提高成年参与者的表现，但反馈提高了注视的速度和准确性，虚拟墙提高了有障碍和 6 岁的参与者的运动效率。没有障碍的老孩子。