In this article, state of the art on virtual reality (VR) for individuals with autism spectrum disorder (ASD) a focus training/targeted intervention is discussed and reflected upon to explore areas more future benefits. We present advantages VR ASD. identify challenges design issues training applications regarding discuss guidelines accumulated in literature so far, mostly based observations user studies exploring usefulness as tool ASD, systematic review. apply new taxonomy that classifies...

A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations upper extremities, exceed capabilities current devices this type. The control 9-degree-of-freedom expands upon conventional methods combines 7-DoF 2-degree-of-freedom power wheelchair control. 3- degrees redundancy are optimized effectively perform activities daily living overcome singularities, joint limits some workspace limitations. is for teleoperated or...

In this article, a virtual reality system for vocational rehabilitation of individuals with disabilities (VR4VR) is presented. VR4VR uses immersive environments to assess and train cognitive physical disabilities. This article focuses on the modules that were designed developed Autism Spectrum Disorder (ASD) population. The offers training six skills identified as transferrable useful in many common jobs. These transferable are cleaning, loading back truck, money management, shelving,...

In telemanipulation systems, assistance through variable position/velocity mapping or virtual fixture can improve manipulation capability and dexterity [3, 5, 6, 7, 8]. Conventionally, such is based on the sensory data of environment without knowing user's motion intention. this paper, intention combined with real-time information for applying appropriate assistance. If current task following a path, applied. aligning end-effector target, an attractive force field produced. Similarly, if...

Rapidly acquiring the shape and pose information of unknown objects is an essential characteristic modern robotic systems in order to perform efficient manipulation tasks. In this work, we present a framework for 3D geometric recovery estimation from unorganized point cloud data. We propose low latency multi-scale voxelization strategy that rapidly fits superquadrics single view clouds. As result, are able quickly accurately estimate parameters relevant scene. evaluate our approach on two...

This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA). It addresses the kinematics WMRA with respect to its ability reach common positions while performing activities daily living (ADL). A procedure is developed for a WMRA. In an effort evaluate two commercial WMRAs, applied each manipulator. Design recommendations insights regard device are obtained used design new overcome limitations these devices. method benefits researchers by providing...

A new and light wheelchair-mounted robotic arm (WMRA-II) was designed built to meet the needs of mobility-impaired persons with limitations upper extremities, exceed capabilities current devices this type. The structure utilizes carbon-fiber polycarbonate tubes reduce weight. mechanical design incorporates DC servo drive, actuator hardware at each individual joint, allowing reconfigurable link lengths. It has seven degrees freedom uses a side mount on power wheelchair. single control board...

In this paper, we present a novel vision based interface for selecting an object using Brain Computer Interface (BCI), and grasping it robotic arm mounted to powered wheelchair. As issuing commands through BCI is slow, system was designed allow user perform complete task the via as few possible, without losing concentration on stimuli or task. A scene image captured by camera wheelchair, from which dynamically sized non-uniform stimulus grid created edge information. Dynamically grids...

This paper presents a virtual reality for vocational rehabilitation system (VR4VR) that is currently in development at the University of South Florida's Center Assistive, Rehabilitation, and Robotics Technologies (CARRT). VR4VR utilizes to assess train individuals with severe cognitive physical disabilities. Using offers several advantages such as being inexpensive, safer easily adjustable different user needs through customization environments, content real time interventions. The composed...

Persons with disabilities often rely on caregivers or family members to assist in their daily living activities. Robotic assistants can provide an alternative solution if intuitive user interfaces are designed for simple operations. Current human-robot still far from being able operate way when used complex activities of (ADL). In this era smartphones that packed sensors, such as accelerometers, gyroscopes and a precise touch screen, robot controls be interfaced capture the user's intended...

In this work, we present a methodology for enabling robot to identify an object and grasp configuration of interest assist the human teleoperating robot, object. The identification is carried out in real-time by detecting motion intention as they are remote robotic arm towards configuration. Simultaneously, depending on detected configuration, user assisted translate orient gripper order preshape complete process occurs with arm, without them having interact another interface. Motion...

In recent years, virtual reality (VR) has been become a popular training tool for individuals with Autism Spectrum Disorder (ASD). Although VR was proven to be promising ASD, effects of properties or attributes user interfaces designed on experience is still an unexplored area. this study, we explore five high-functioning (HFASD): instruction methods, visual fidelity, view zoom, clutter, and motion. Our motivation give positive contribution the design future applications ASD so that more...

In this paper, an immersive virtual reality system for vocational rehabilitation of individuals with Autism Spectrum Disorder (VR4VR) is presented. VR4VR uses environments to assess and train (ASD). This paper discusses lessons learned from the testing sessions neuro typical ASD in regards better design principles. During sessions, participants used practice six skills identified as transferrable useful many common jobs. These transferable were cleaning, loading back a truck, money...

A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons with limitations upper extremities, exceed capabilities current devices this type. The mechanical design incorporates DC servo drive, actuator hardware at each individual joint, allowing reconfigurable link lengths. It has seven degrees freedom uses a side mount on power wheelchair. control system allows coordinated Cartesian control, offers expandability for future research, such as...

A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations upper extremities, exceed capabilities current devices this type. The control 9-DoF expands on conventional methods combines 7-DoF 2-DoF power wheelchair control. 3-degrees redundancy are optimized effectively perform activities daily living (ADLs) overcome singularities, joint limits some workspace limitations. is for teleoperated or autonomous coordinated...

Wheelchair-bound persons with upper limb motion limitations can utilize a wheelchair-mounted robotic arm (WMRA) to perform activities of daily living (ADL) tasks. In this paper, an optimized control our 9-DoF system, consisting 7-DoF and 2-DoF power wheelchair, is achieved. For effective ADL task execution, positioning the end-effector proper wheelchair orientation was as part algorithm. Separate trajectories were simultaneously followed execute "Go To Open Door" task. The methodology,...

The wheelchair-mounted robotic arm (WMRA) is a mobile manipulator that consists of 7-DoF and 2-DoF power wheelchair platform. Previous works combined mobility manipulation control using weighted optimization for dual-trajectory tracking [7]. In this work, we present an image-based visual servoing (IBVS) approach with scale-invariant feature transform (SIFT) eye-in-hand monocular camera the 9-DoF WMRA system to execute activities daily living (ADL) autonomously. We also results physical...

Music is a multi-dimensional entity and can be experienced in different forms, such as sound, vibrations or visual displays. This experience typically confined to people without hearing impairments, but for with it difficult impossible enjoy this form of art. Recent technological advancement offers some opportunities through which attempts made provide musical impairment. The purpose research develop an affordable wearable haptic device disabilities music. helpful reduced well complete...

In this paper, a virtual reality for vocational rehabilitation (VR4VR) system individuals with disabilities is presented. VR4VR aims to enable job coaches use immersive environments inexpensively and safely assess train the skills of disabilities. Several key requirements challenges are discussed, including need “distractor” stimuli observe user behavior in unexpected situations, make experience 3D interfaces adapt specific user, maintaining senses presence copresence, especially cognitive...

A new robotic gripper was designed and constructed for activities of daily living (ADL) to be used with the wheelchair-mounted arm developed at USF. Two aspects made it unique; one is design paddles, other actuation mechanism that produces parallel motion effective gripping. The paddles were grasp a wide variety objects different shapes sizes are in every day life. driving simple, light, effective, safe, self content, independent attached it.

In this paper, we present an algorithm that provides human motion intention based assistance to users teleoperating a remote gripper for preshaping over object in order grasp it. Human data from the arm is used train Hidden Markov Model (HMM) offline. During execution of grasping task, processed real time through HMM determine intended preshape configuration user. Based on intention, scaled up those orientation directions lead desired configuration, thus providing necessary user grasping....