A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm

Shang Zhou Ye, Prakhar Jain, Andrew Walley, Yan-Jun Yang, Elahe Abdi

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

Foot-based teleoperation can provide the user with hands-free control of a robotic assistive arm without interrupting the ongoing task in various potential industrial and medical applications. In this paper, a foot interface (FI) was adapted to control a robotic camera holder in laparoscopic surgery, where surgeons are in direct contact with patients, and their hands are occupied. A novel four degrees of freedom FI with intuitive two-level rate-based control and vibrotactile feedback is proposed. A comparative study was conducted between the proposed FI and a conventional FI with binary switches on a planar surface. The experiment includes a follow-the-command test and a peg-and-holes test. Results showed that our FI was less mentally tiring with shorter task completion time and fewer visual checks. A suitably designed FI is a good candidate for controlling a robotic assistive arm in surgical applications.

Original languageEnglish
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
EditorsConor Walsh
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1080-1087
Number of pages8
ISBN (Electronic)9781728159072
ISBN (Print)9781728159089
DOIs
Publication statusPublished - 2020
EventInternational Conference on Biomedical Robotics and Biomechatronics 2020 - New York City, United States of America
Duration: 29 Nov 20201 Dec 2020
Conference number: 8th
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9219774/proceeding (Proceedings)

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE, Institute of Electrical and Electronics Engineers
Volume2020-November
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

ConferenceInternational Conference on Biomedical Robotics and Biomechatronics 2020
Abbreviated titleBioRob 2020
CountryUnited States of America
CityNew York City
Period29/11/201/12/20
Internet address

Cite this