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

doi:10.1109/BioRob49111.2020.9224396

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

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

4 Citations (Scopus)

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 language	English
Title of host publication	2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Editors	Conor Walsh
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1080-1087
Number of pages	8
ISBN (Electronic)	9781728159072
ISBN (Print)	9781728159089
DOIs	https://doi.org/10.1109/BioRob49111.2020.9224396
Publication status	Published - 2020
Event	International Conference on Biomedical Robotics and Biomechatronics 2020 - New York City, United States of America Duration: 29 Nov 2020 → 1 Dec 2020 Conference number: 8th https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9219774/proceeding (Proceedings)

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Volume	2020-November
ISSN (Print)	2155-1774
ISSN (Electronic)	2155-1782

Conference

Conference	International Conference on Biomedical Robotics and Biomechatronics 2020
Abbreviated title	BioRob 2020
Country/Territory	United States of America
City	New York City
Period	29/11/20 → 1/12/20
Internet address	https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9219774/proceeding (Proceedings)

Access to Document

10.1109/BioRob49111.2020.9224396

Cite this

Ye, S. Z., Jain, P., Walley, A., Yang, Y.-J., & Abdi, E. (2020). A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm. In C. Walsh (Ed.), 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 1080-1087). (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2020-November). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/BioRob49111.2020.9224396

Ye, Shang Zhou ; Jain, Prakhar ; Walley, Andrew et al. / A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). editor / Conor Walsh. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2020. pp. 1080-1087 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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

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. ",

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editor = "Conor Walsh",

booktitle = "2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)",

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note = "International Conference on Biomedical Robotics and Biomechatronics 2020, BioRob 2020 ; Conference date: 29-11-2020 Through 01-12-2020",

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Ye, SZ, Jain, P, Walley, A, Yang, Y-J & Abdi, E 2020, A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm. in C Walsh (ed.), 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2020-November, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 1080-1087, International Conference on Biomedical Robotics and Biomechatronics 2020, New York City, New York, United States of America, 29/11/20. https://doi.org/10.1109/BioRob49111.2020.9224396

A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm. / Ye, Shang Zhou; Jain, Prakhar; Walley, Andrew et al.
2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). ed. / Conor Walsh. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2020. p. 1080-1087 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2020-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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T1 - A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm

AU - Ye, Shang Zhou

AU - Jain, Prakhar

AU - Walley, Andrew

AU - Yang, Yan-Jun

AU - Abdi, Elahe

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N2 - 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.

AB - 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.

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ER -

Ye SZ, Jain P, Walley A, Yang YJ, Abdi E. A novel four-degree-of-freedom versus a conventional foot interface for controlling a robotic assistive arm. In Walsh C, editor, 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2020. p. 1080-1087. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BioRob49111.2020.9224396

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

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