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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<!-- Meta tags for social media banners, these should be filled in appropriatly as they are your "business card" -->
<!-- Replace the content tag with appropriate information -->
<meta name="description" content="Website for Allie's Thesis">
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<meta name="keywords" content="Wheelchair-mounted-robotic-arms"> <!-- ADD MORE -->
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<title>Finding Intuitive Action Spaces for Wheelchair-Mounted Robotic Arms</title>
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<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Finding Intuitive Action Spaces for Wheelchair-Mounted Robotic Arms</h1>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<a href="https://github.com/allie1998/" target="_blank">Allie Wang</a></span>
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<span class="author-block">Computing Science<br>University of Alberta</span>
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</section>
<!-- Teaser video-->
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type="video/mp4">
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</div>
<h2 class="subtitle has-text-centered">
Point and Go mode switching reallocates the cartesian
mode switching reference frames into a more intuitive action
space. We use a novel sweeping motion to point the gripper,
which defines the new translation axis along the robot base
frame’s horizontal plane.
By combining rotation and translation in wrist movements, we minimize mode switches while providing more human-like actions to control the robot with. Hence, just Point and Go!
</h2>
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<!-- End teaser video -->
<!-- Paper abstract -->
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<h2 class="title is-3">Abstract</h2>
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<p style="text-indent: 4em">
Operating high degree of freedom robots can be difficult for users of wheelchair mounted robotic manipulators. Mode switching in Cartesian action space has several drawbacks such as unintuitive control reference frames, separate translation and orientation control, and limited movement capabilities that hinder performance. Autonomous methods aim to improve the user experience by prompting the user for high-level goal input so that the system can autonomously completes the task. However, studies show users prefer to maintain control authority over the robot, and do not like explicitly stating their task goals. To accommodate for this, shared-autonomy methods have been proposed to assist the user through learning action maps or predicting goals and providing assistance. These methods rely on learning task specific representations or require ground truth information, both of which may impede real world implementation. Additionally, many control systems may be limited by choosing Cartesian mode switching as the basis for their method's control paradigm.
</p>
<p style="text-indent: 4em">
We assert that we can create new mode switching action spaces that reallocate movement reference frames into a more intuitive action space. We create a framework for mode switching that introduces wrist motions to the robot's action library, in addition to base-frame and end-effector aligned actions. With this framework, we create an action space representation of basis vectors to formally define different control spaces. After conducting a pilot study to find optimal action reference frames for activities of daily living, we propose Point and Go mode switching, consisting of a novel translation and rotation mode with many quality of life improvements to reduce the user's mental load.
</p>
<p style="text-indent: 4em">
We use a novel sweeping motion to point the gripper, which defines the new translation axis along the robot base frame's horizontal plane. This creates an intuitive `point and go' translation mode that allows the user to easily perform complex, human-like movements that would not be possible with Cartesian mode switching. The system's rotation mode combines position control with a refined end-effector oriented frame that provides precise and consistent robot actions in various end-effector poses. We verified its effectiveness through initial experiments that evaluated each feature of our system on its own. It was followed by a three-task user study that compared our method to Cartesian mode switching and learned State Conditioned Linear Maps. Results show that when comparing Point and Go mode switching to Cartesian-base control, we reduced completion times by 31%, workload by 12%, pauses by 41%, and mode switches by 33%, while receiving significantly favorable responses in user surveys and significantly better control smoothness. Additionally, we matched performance of State Conditioned Linear Maps on easy tasks, and exceeded it in more complex tasks. Point and Go mode switching can be implemented 'out of the box', without requiring sensors or data for learning, in current wheelchair-mounted robotic manipulators, and we hope can also serve as a more optimized control system for future methods to build upon.
</p>
</div>
</div>
</div>
</div>
</section>
<!-- End paper abstract -->
<!-- Action Spaces -->
<div class="container is-max-desktop">
<div class="my-block">
<div class="column is-centered">
<br>
<h2 class="title is-3">Point and Go Action Space</h2>
<h2 class="content has-text-justified">
PnG is comprised of a translation mode and a rotation
mode. Horizontal wrist motions point the end-effector to define the translation axis along the robot base
frame’s horizontal plane. This creates an intuitive ‘point and
go’ translation mode that allows the user to easily perform
complex, human-like movements that would not be possible
with cartesian mode switching. The system’s rotation mode
combines position control with a refined end effector oriented
frame that provides precise and consistent robot actions in
various end effector poses.
</h2>
<div class="columns is-vcentered is-centered">
<div class="column has-text-justified">
<p style="text-align:center">
Translation Mode
</p>
<br>
<video poster="" id="trans" autoplay playsinline muted loop height="100%" width="100%">
<source src="static/videos/translations.mp4">
</video>
</div>
<div class="column has-text-centered">
<p style="text-align:center">
Rotation Mode
</p>
<br>
<video id="rot" autoplay playsinline muted loop height="100%" width="100%">
<source src="static/videos/rotations.mp4">
</video>
</div>
</div>
</div>
</div>
</div>
<!-- End Action Spaces -->
<!-- Experiments -->
<div class="container is-max-desktop">
<div class="my-block">
<div class="column is-centered">
<br>
<h2 class="title is-3">Experiments</h2>
<h2 class="content has-text-justified">
We verify our results with separate translation and orientation experiments to evaluate each contribution to Point and Go. Translation experiments show that PnG's translation mode allows more efficient control of the robot, allowing users to orient the end-effector without switching modes.
Rotation experiments show our new rotation frame with position control reached target orientations fastest. Our 3-task user study then compared PnG to Cartesian mode switching and SCL, a state of the art learning method. PnG outperformed the other two methods over a large span of objective and subjective metrics.
</h2>
<div>
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<div class="my_product_video">
<div class="center">
<video poster="" id="tree" autoplay playsinline muted loop height="93.88%" width="93.88%">
<source src="static/videos/experiments.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<h2 class="subtitle has-text-centered">
<br>
<br>
</h2>
</div>
</div>
<!-- End Experiments -->
<!-- Image carousel -->
<div class="container is is-max-desktop">
<div class="column is-centered">
<h2 class="title is-3">Trajectory Plots
</h2>
<h2 class="content has-text-justified">
Trajectory plots from our user study support the intuitive nature of Point and Go mode switching. The following sample trajectories show the start (blue) and end (red) of three trajectories for each task and control. We observe that when using PnG, trajectories are quantifiably smoother and more direct to targets. Cartesian mode switching's trajectories show discontinuous movement with many adjustments, suggesting a less user friendly control system.
</h2>
<div class="column is-vcentered is-centered">
<div id="results-carousel" class="carousel results-carousel">
<div class="item">
<img src="static/images/traj_banana_padded.png" alt="MY ALT TEXT"/>
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