| Abstract / Kurzbeschreibung: |
Technology in general is developed to improve the lives of their
users, often by allowing them to handle individual struggles. Assistive robotics takes this concept to its extreme by (re-) enabling users to physically interact with their environment in their daily life. For a successful utilization however, a user interface is required that allows for easy and quick interaction. Based on the promising concept of Adaptive Degree of Freedom (DoF) Control, this paper presents a novel heuristic implementation of the underlying principle, without relying on learning user actions.
To achieve this, a mixture distribution is obtained which expresses how likely the user wants which motion. Here, every mode of the mixture represents a heuristic behavior. Each such behavior defines its own distribution of motion, as well as a weight indicating how likely it is in the current situation. The best fitting DoF is obtained from this mixture and offered to the user with an interface.
This general-purpose control method has been tested in a small
technical study, the results of which show its general viability,
promising chances for a significant reduction of mode changes, as well as very good quantitative feedback by the users. |
