Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer
With the growth of the world’s population, limited healthcare resources cannot provide adequate nursing services for all people in need. The wheelchair-mounted robotic arm (WMRA) with interactive technology could help to improve users’ self-care ability and relieve nursing stress. However, the users...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/9/4477 |
| _version_ | 1797601688589172736 |
|---|---|
| author | Yaxin Liu Yan Liu Yufeng Yao Ming Zhong |
| author_facet | Yaxin Liu Yan Liu Yufeng Yao Ming Zhong |
| author_sort | Yaxin Liu |
| collection | DOAJ |
| description | With the growth of the world’s population, limited healthcare resources cannot provide adequate nursing services for all people in need. The wheelchair-mounted robotic arm (WMRA) with interactive technology could help to improve users’ self-care ability and relieve nursing stress. However, the users struggle to control the WMRA due to complex operations. To use the WMRA with less burden, this paper proposes an object affordance-based implicit interaction technology using a laser pointer. Firstly, a laser semantic identification algorithm combined with the YOLOv4 and the support vector machine (SVM) is designed to identify laser semantics. Then, an implicit action intention reasoning algorithm, based on the concept of object affordance, is explored to infer users’ intentions and learn their preferences. For the purpose of performing the actions about task intention in the scene, the dynamic movement primitives (DMP) and the finite state mechanism (FSM) are respectively used to generalize the trajectories of actions and reorder the sequence of actions in the template library. In the end, we verified the feasibility of the proposed technology on a WMRA platform. Compared with the previous method, the proposed technology can output the desired intention faster and significantly reduce the user’s limb involvement time (about 85%) in operating the WMRA under the same task. |
| first_indexed | 2024-03-11T04:07:08Z |
| format | Article |
| id | doaj.art-b76a4a97c0d94b71a6323f56972ec5bb |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T04:07:08Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b76a4a97c0d94b71a6323f56972ec5bb2023-11-17T23:44:56ZengMDPI AGSensors1424-82202023-05-01239447710.3390/s23094477Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser PointerYaxin Liu0Yan Liu1Yufeng Yao2Ming Zhong3State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaWith the growth of the world’s population, limited healthcare resources cannot provide adequate nursing services for all people in need. The wheelchair-mounted robotic arm (WMRA) with interactive technology could help to improve users’ self-care ability and relieve nursing stress. However, the users struggle to control the WMRA due to complex operations. To use the WMRA with less burden, this paper proposes an object affordance-based implicit interaction technology using a laser pointer. Firstly, a laser semantic identification algorithm combined with the YOLOv4 and the support vector machine (SVM) is designed to identify laser semantics. Then, an implicit action intention reasoning algorithm, based on the concept of object affordance, is explored to infer users’ intentions and learn their preferences. For the purpose of performing the actions about task intention in the scene, the dynamic movement primitives (DMP) and the finite state mechanism (FSM) are respectively used to generalize the trajectories of actions and reorder the sequence of actions in the template library. In the end, we verified the feasibility of the proposed technology on a WMRA platform. Compared with the previous method, the proposed technology can output the desired intention faster and significantly reduce the user’s limb involvement time (about 85%) in operating the WMRA under the same task.https://www.mdpi.com/1424-8220/23/9/4477implicit interactionWMRAintention reasoningconditional random field |
| spellingShingle | Yaxin Liu Yan Liu Yufeng Yao Ming Zhong Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer Sensors implicit interaction WMRA intention reasoning conditional random field |
| title | Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer |
| title_full | Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer |
| title_fullStr | Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer |
| title_full_unstemmed | Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer |
| title_short | Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer |
| title_sort | object affordance based implicit interaction for wheelchair mounted robotic arm using a laser pointer |
| topic | implicit interaction WMRA intention reasoning conditional random field |
| url | https://www.mdpi.com/1424-8220/23/9/4477 |
| work_keys_str_mv | AT yaxinliu objectaffordancebasedimplicitinteractionforwheelchairmountedroboticarmusingalaserpointer AT yanliu objectaffordancebasedimplicitinteractionforwheelchairmountedroboticarmusingalaserpointer AT yufengyao objectaffordancebasedimplicitinteractionforwheelchairmountedroboticarmusingalaserpointer AT mingzhong objectaffordancebasedimplicitinteractionforwheelchairmountedroboticarmusingalaserpointer |