Remote Tongue Based Control Of A Wheelchair Mounted Assistive Robotic Arm - A Proof Of Concept Study

Assistive robotic arms (ARM) have the potential to make individuals with tetraplegia more independent by enabling them to perform physical activities. Usually the ARMs are used within reach of the user while the user is sitting in a powered wheelchair. In this proof of concept study, we demonstrated for the first time a tongue based method to provide an individual with tetraplegia the ability to fetch remote objects such as beverages while being bedridden. This is done through tongue-based control of a mobile and remote assistive robotic manipulator (ARM) which was mounted on a powered wheelchair. The tongue-computer interface was used by two subjects to remotely navigate an ARM carrying wheelchair towards a table and control the ARM to pick up a bottle of water placed on the table. The subjects were given approximately 40 min to become familiar with the system and then they performed the task 10 times. Subject 1 succeeded the task in 9 out of 10 trials and subject 2 in 8 out of 10 trials. The trials lasted for 132-38 s and 195 +/- 64 s for subject 1 and 2, respectively. Thus, the system has the potential to further empower individuals with tetraplegia by enabling them to remotely pick-up objects when e.g. lying in bed, making them more independent and reducing the need for care. Future work will include further development of the system (better feedback, semi automation) as well as experimental assessment with more subjects and tasks.