|
1
|
Beckerle P, Salvietti G, Unal R, Prattichizzo D, Rossi S, Castellini C, Hirche S, Endo S, Amor HB, Ciocarlie M, Mastrogiovanni F, Argall BD, Bianchi M. A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics. Front Neurorobot 2017; 11:24. [PMID: 28588473 PMCID: PMC5440510 DOI: 10.3389/fnbot.2017.00024] [Citation(s) in RCA: 77] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/16/2017] [Accepted: 05/05/2017] [Indexed: 11/30/2022] Open
Abstract
Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.
Collapse
Affiliation(s)
- Philipp Beckerle
- Institute for Mechatronic Systems, Mechanical Engineering, Technische Universität Darmstadt, Darmstadt, Germany
| | - Gionata Salvietti
- Human Centered Robotics Group, SIRSLab, Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
| | - Ramazan Unal
- Department of Mechanical Engineering, Abdullah Gul University, Kayseri, Turkey
| | - Domenico Prattichizzo
- Human Centered Robotics Group, SIRSLab, Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
| | - Simone Rossi
- Unit of Neurology and Clinical Neurophysiology, Department of Medicine, Surgery and Neuroscience, Section of Human Physiology, University of Siena, Siena, Italy
| | - Claudio Castellini
- Institute of Robotics and Mechatronics, DLR German Aerospace Center, Oberpfaffenhofen, Germany
| | | | | | - Heni Ben Amor
- Interactive Robotics Laboratory, School of Computing, Informatics, and Decision Systems Engineering, Arizona State University, Tempe, AZ, United States
| | - Matei Ciocarlie
- Department of Mechanical Engineering, Columbia University, New York, NY, United States
| | - Fulvio Mastrogiovanni
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova, Genova, Italy
| | - Brenna D. Argall
- Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL, United States
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, United States
- Department of Physical Medicine and Rehabilitation, Northwestern University, Evanston, IL, United States
- Rehabilitation Institute of Chicago, Chicago IL, United States
| | - Matteo Bianchi
- Research Centre “Enrico Piaggio”, University of Pisa, Pisa, Italy
- Department of Information Engineering, University of Pisa, Pisa, Italy
| |
Collapse
|
|
2
|
Beckerle P, Salvietti G, Unal R, Prattichizzo D, Rossi S, Castellini C, Hirche S, Endo S, Amor HB, Ciocarlie M, Mastrogiovanni F, Argall BD, Bianchi M. A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics. Front Neurorobot 2017. [PMID: 28588473 DOI: 10.3389/frbot.2017.00024] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/26/2023] Open
Abstract
Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.
Collapse
Affiliation(s)
- Philipp Beckerle
- Institute for Mechatronic Systems, Mechanical Engineering, Technische Universität Darmstadt, Darmstadt, Germany
| | - Gionata Salvietti
- Human Centered Robotics Group, SIRSLab, Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
| | - Ramazan Unal
- Department of Mechanical Engineering, Abdullah Gul University, Kayseri, Turkey
| | - Domenico Prattichizzo
- Human Centered Robotics Group, SIRSLab, Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
| | - Simone Rossi
- Unit of Neurology and Clinical Neurophysiology, Department of Medicine, Surgery and Neuroscience, Section of Human Physiology, University of Siena, Siena, Italy
| | - Claudio Castellini
- Institute of Robotics and Mechatronics, DLR German Aerospace Center, Oberpfaffenhofen, Germany
| | | | | | - Heni Ben Amor
- Interactive Robotics Laboratory, School of Computing, Informatics, and Decision Systems Engineering, Arizona State University, Tempe, AZ, United States
| | - Matei Ciocarlie
- Department of Mechanical Engineering, Columbia University, New York, NY, United States
| | - Fulvio Mastrogiovanni
- Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova, Genova, Italy
| | - Brenna D Argall
- Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL, United States
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, United States
- Department of Physical Medicine and Rehabilitation, Northwestern University, Evanston, IL, United States
- Rehabilitation Institute of Chicago, Chicago IL, United States
| | - Matteo Bianchi
- Research Centre "Enrico Piaggio", University of Pisa, Pisa, Italy
- Department of Information Engineering, University of Pisa, Pisa, Italy
| |
Collapse
|