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Multimodal User Supervised Interface and Intelligent Control (MUSIIC) for Assistive Robots

This paper reports on a method and system which integrates human-computer interaction with reactive planning to operate a telerobot for use as an assistive device. The system is intended to meet the needs of individuals with physical disabilities and operate in an unstructured environment, rather than in a structured workcell. This allows the user considerable freedom and flexibility in terms of control and operating ease. We describe a novel approach for an intelligent assistive telerobotic system for such an environment: speech-deictic gesture control integrated with a knowledge-driven reactive planner and a stereo-vision system which builds a superquadric shape representation of the scene. 1.0 Introduction The rehabilitation robotics research literature describes many demonstrations of the use of robotic devices by individuals with disabilities [13, 17]. Unfortunately, many of the existing interface strategies, while important steps forward, have not met all of the desires of the user community. community. Prototype interfaces have taken two approaches to achieving effective use by individuals with disabilities. Many use commands which are issued by the user and activate the robot to perform pre-programmed tasks [32]. Similar types of pre-programmed commands were employed in vocational workstations [14,16,18,33,34]. In contrast to the command oriented rehabilitation robots, there have been a number of projects in which the user directly controls all the movements of the manipulator much like a prosthesis. [23,24,36]. This approach offers tremendous flexibility since there are no restrictions for a preset number of commands, a structured environment, or machine knowledge of the objects in the world, but is likely to be too demanding of many prospective users. Direct control of robots present many problems, including the requirement of good motor dexterity on the part of the operator and many other real-time perceptual and motor requirements which maybe difficult for many users to satisfy. At the other extreme are completely autonomous systems that perform with effectively no user supervision, the long elusive goal of AI, robotics and machine vision communities. Unfortunately, this goal seems far away from the state of the art at this point, although many important incremental advances have been forthcoming in the past decades. Furthermore, absolute automation poses a set of problems stemming from incomplete a priori knowledge about the environment, hazards, strategies of exploration, insufficient sensory information, inherent inaccuracy in the robotic devices and the mode of operation [31].