Title:
Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator

dc.contributor.author Choi, Young Sang en_US
dc.contributor.author Chen, Tiffany L. en_US
dc.contributor.author Jain, Advait en_US
dc.contributor.author Anderson, Cressel D. en_US
dc.contributor.author Glass, Jonathan D. en_US
dc.contributor.author Kemp, Charles C. en_US
dc.contributor.corporatename Georgia Institute of Technology. Healthcare Robotics Lab en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-03-11T15:19:01Z
dc.date.available 2011-03-11T15:19:01Z
dc.date.issued 2009
dc.description ©2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at The 18th IEEE International Symposium on Robot and Human Interactive Communication, Sept. 27 2009-Oct. 2 2009, Toyama. en_US
dc.description.abstract Delivering an object to a user would be a generally useful capability for service robots. Within this paper, we look at this capability in the context of assistive object retrieval for motor-impaired users. We first describe a behavior-based system that enables our mobile robot EL-E to autonomously deliver an object to a motor-impaired user. We then present our evaluation of this system with 8 motor-impaired patients from the Emory ALS Center. As part of this study, we compared handing the object to the user (direct delivery) with placing the object on a nearby table (indirect delivery). We tested the robot delivering a cordless phone, a medicine bottle, and a TV remote, which were ranked as three of the top four most important objects for robotic delivery by ALS patients in a previous study. Overall, the robot successfully delivered these objects in 126 out of 144 trials (88%) with a success rate of 97% for indirect delivery and 78% for direct delivery. In an accompanying survey, participants showed high satisfaction with the robot with 4 people preferring direct delivery and 4 people preferring indirect delivery. Our results indicate that indirect delivery to a surface can be a robust and reliable delivery method with high user satisfaction, and that robust direct delivery will require methods that handle diverse postures and body types. en_US
dc.identifier.citation Young Sang Choi; Chen, T.; Jain, A.; Anderson, C.; Glass, J.D.; Kemp, C.C. , "Hand it over or set it down: A user study of object delivery with an assistive mobile manipulator," RO-MAN 2009, The 18th IEEE International Symposium on Robot and Human Interactive Communication, Sept. 27 2009-Oct. 2 2009, 736-743. en_US
dc.identifier.isbn 978-1-4244-5081-7
dc.identifier.issn 1944-9445
dc.identifier.uri http://hdl.handle.net/1853/37361
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Handicapped aids en_US
dc.subject Manipulators en_US
dc.subject Mobile robots en_US
dc.subject Service robots en_US
dc.title Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Kemp, Charles C.
local.contributor.corporatename Healthcare Robotics Lab
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication e4f743b9-0557-4889-a16e-00afe0715f4c
relation.isOrgUnitOfPublication c6394b0e-6e8b-42dc-aeed-0e22560bd6f1
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
roman2009_delivery.pdf
Size:
1.33 MB
Format:
Adobe Portable Document Format
Description: