People with motor disabilities experience several physical limitations that affect not only their activities of daily living but their integration into the labor market. Human-Robot Collaboration presents opportunities to enhance human capabilities and counters physical limitations through different interaction paradigms and technological devices. However, little is known about the needs, expectations, and perspectives of people with motor disabilities within a human-robot collaborative work environment. In this thesis, we aim to shed light on the perspectives of people with motor disabilities when designing a teleoperation concept that could enable them to perform manipulation tasks in a manufacturing environment. First, we provide the concerns of different people with motor disabilities, social workers, and caregivers about including a collaborative robotic arm in assembly lines. Second, we identify specific opportunities and potential challenges in hands-free interaction design for robot control. Third, we present a multimodal hands-free interaction for robot control that uses augmented reality to display the user interface. On top of that, we propose a feedback concept that provides augmented visual cues to aid robot operators in gaining a better perception of the location of the objects in the workspace and improve performance in pick-and-place tasks. We present our contributions through six studies with people with and without disabilities, and the empirical findings are reported in eight publications. Publications I, II, and IV aim to extend the research efforts of designing human-robot collaborative spaces for people with motor disabilities. Publication III sheds a light on the reasoning for hands-free modality choices and Publication VIII evaluates a hands-free teleoperation concept with an individual with motor disabilities. Publications V - VIII explore augmented reality to present a user interface that facilitates hands-free robot control and uses augmented visual cues to address depth perception ...
Towards a Human-Robot Interaction Design for People with Motor Disabilities by Enhancing the Visual Space
2022-09-08
Theses
Electronic Resource
English
ddc:004 , Fakultät für Ingenieurwissenschaften » Informatik und Angewandte Kognitionswissenschaft » Informatik » Interaktive Systeme / Interaktionsdesign , human-robot interaction , augmented reality , hands-free modalities , participatory design , people with disabilities , interaction design , empirical studies
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