Interface-Aware Assistance for 7-DoF Robot Arm Teleoperation: Case Studies on Feasibility
Published in International Symposium on Experimental Robotics (ISER) 2023, 2023
We developed algorithms for providing user-customized, task-agnostic assistance during high-DoF robot teleoperation (Kinova Jaco robotic arm) using a low-dimensional control interface (Sip/Puff device), based on user intent estimation using LSTMs and GRUs. We implemented this algorithm on hardware in an end-to-end (data collection → model training → rollout of assistance) pipeline and evaluated it in a preliminary human subjects case study with 3 SCI participants.