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ArmSym: A Virtual Human-Robot Interaction Laboratory for Assistive Robotics

Bustamante Gomez, Samuel and Peters, Jan and Schölkopf, Bernhard and Grosse-Wentrup, Moritz and Jayaram, Vinay (2021) ArmSym: A Virtual Human-Robot Interaction Laboratory for Assistive Robotics. IEEE Transactions on Human-Machine Systems, 51 (6), pp. 568-577. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/THMS.2021.3106865. ISSN 2168-2291.

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Official URL: https://ieeexplore.ieee.org/document/9547225


Research in human-robot interaction for assistive robotics usually presents many technical challenges for experimenters, forcing researchers to split their time between solving technical problems and conducting experiments. In addition, previous work in virtual reality setups tends to focus on a single assistive robotics application. In order to alleviate these problems, we present ArmSym, a virtual reality laboratory with a fully simulated and developer-friendly robot arm. The system is intended as a testbed to run many sorts of experiments on human control of a robotic arm in a realistic environment, ranging from an upper limb prosthesis to a wheelchair-mounted robotic manipulator. To highlight the possibilities of this system, we perform a study comparing different sorts of prosthetic control types. Looking at nonimpaired subjects, we study different psychological metrics that evaluate the interaction of the user with the robot under different control conditions. Subjects report a perception of embodiment in the absence of realistic cutaneous touch, supporting previous studies in the topic. We also find interesting correlations between control and perceived ease of use. Overall our results confirm that ArmSym can be used to gather data from immersive experiences prosthetics, opening the door to closer collaboration between device engineers and experience designers in the future.

Item URL in elib:https://elib.dlr.de/147359/
Document Type:Article
Title:ArmSym: A Virtual Human-Robot Interaction Laboratory for Assistive Robotics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bustamante Gomez, SamuelUNSPECIFIEDhttps://orcid.org/0000-0002-7923-8307UNSPECIFIED
Peters, JanTU Darmstadt, FB Informatikhttps://orcid.org/0000-0002-5266-8091UNSPECIFIED
Schölkopf, BernhardMax Planck Institute for Intelligent Systemshttps://orcid.org/0000-0002-8177-0925UNSPECIFIED
Grosse-Wentrup, MoritzMax Planck Institute for Intelligent Systemshttps://orcid.org/0000-0001-9787-2291UNSPECIFIED
Jayaram, VinayMax Planck Institute for Intelligent Systemshttps://orcid.org/0000-0002-8581-4921UNSPECIFIED
Date:24 September 2021
Journal or Publication Title:IEEE Transactions on Human-Machine Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 568-577
EditorsEmailEditor's ORCID iDORCID Put Code
Trajkovic, LjiljanaUNSPECIFIEDhttps://orcid.org/0000-0002-2560-5394UNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:ArmSym, human–robot interaction, robot arm, simulated laboratory, virtual reality, Rehabilitation robotics, Laboratories, Prosthetics, Human-robot interaction, Virtual reality
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Explainable Robotic AI
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Strobl, Dr. Klaus H.
Deposited On:13 Dec 2021 14:49
Last Modified:14 Dec 2021 09:17

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