![]() ![]() The smartphone app matches the capabilities of the joystick and keypad, but requires minimal physical exertion and no difficult motions such as grasping or twisting. Our platform for the Jaco ARM, the Jacontrol, is composed of two components: a smartphone application on an Android device and a program on a Linux computer (Figure 1). We have developed a unique, assistive platform for the Jaco ARM called the Jacontrol, which can mimic the functionality of the joystick and keypad through a touchscreen graphical user interface (GUI) and has the expendability for autonomous robotic functionalities. Therefore, the purpose of the current development is to establish a framework that provides customizable smartphone user interfaces and to test their feasibility and performance. Moreover, 83% of users keep the phone turned on and within reachable range (Dicianno et al., 2014 Wu, Liu, Brown, Kelleher, & Cooper, 2013). Statistic reveals that smartphone users in America are increasing dramatically in recent years. The smartphone’s multi-touch interface and the built-in Bluetooth and Wi-Fi connectivity have the potential to overcome the limitations of current control interfaces and provide wire-free manipulation assistance. In addition, it has not yet been verified with different environments or outdoor conditions. However, the modification to mount the Kinect in front of the chair may enlarge the footprint and increase difficulties for indoor maneuverability. A developing remote interface using Microsoft Kinect gesture or voice recognition (Jiang, Zhang, Wachs, & Duerstock, 2014) was tested with pick-and-place, drinking, and photo shooting tasks. ![]() ![]() This limits the flexibility in ARM operation once the user is transferred to other locations such as bed. The aforementioned control interfaces can only be operated with a cable linked to the ARM. The keypad is more affordable for users with difficulties using joystick, but memorizing key functions and hierarchy may be demanding (Tsui, Kim, Behal, Kontak, & Yanco, 2011). Multiple clicking on the same key accelerates the ARM movement and clicking on the key with the opposite direction decelerates or reverses the ARM motion. Chung, Hannan, Wang, Kelleher, & Cooper, 2014).Īlternatively, keypad control interface replaces each direction of motion with keys-each key corresponds to only one single motion such as moving left. The joystick is simple and efficient, but changing modes and the twisting motion may be difficult or even impossible for some users to manipulate (C. Two push buttons on the joystick knob allow the user to toggle between three common control modes-translation mode, in which joystick movements change the position of the ARM’s hand wrist rotation mode, in which joystick movements change the orientation of the hand and finger mode, in which joystick movements open and close three fingers). The joystick has three degrees of freedom-horizontal movements including left/right and forward/backward and twisting movement such as clockwise/counter-clockwise. There are two primary physical control interfaces from the commercial ARMs: custom joystick and keypad. The Jaco ARM has six interlocking joints, three “fingers” for gripping, a reach of ninety centimeters, and can move through six degrees of freedom. Numerous ARMs have become commercially available in recent years, and one of the most recent is the Jaco ARM developed by Kinova Technology. ![]() ARMs can enable users to grasp objects that would otherwise be out of their reach and perform activities of daily living (ADLs) (Wang et al., 2013). Assistive Robotic Manipulators (ARMs) have great potential to increase functionality and independence for users with disabilities in the upper extremities (Bach, Zeelenberg, & Winter, 1990 C.-S. ![]()
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