TY - JOUR
T1 - An assistive robot that enables people with amyotrophia to perform sequences of everyday activities
AU - Hagengruber, Annette
AU - Quere, Gabriel
AU - Iskandar, Maged
AU - Bustamante, Samuel
AU - Feng, Jianxiang
AU - Leidner, Daniel
AU - Albu-Schäffer, Alin
AU - Stulp, Freek
AU - Vogel, Jörn
N1 - Publisher Copyright:
© The Author(s) 2025.
PY - 2025/12
Y1 - 2025/12
N2 - Mobile manipulation aids aim at enabling people with motor impairments to physically interact with their environment. To facilitate the operation of such systems, a variety of components, such as suitable user interfaces and intuitive control of the system, play a crucial role. In this article, we validate our highly integrated assistive robot EDAN, operated by an interface based on bioelectrical signals, combined with shared control and a whole-body coordination of the entire system, through a case study involving people with motor impairments to accomplish real-world activities. Three individuals with amyotrophia were able to perform a range of everyday tasks, including pouring a drink, opening and driving through a door, and opening a drawer. Rather than considering these tasks in isolation, our study focuses on the continuous execution of long sequences of realistic everyday tasks.
AB - Mobile manipulation aids aim at enabling people with motor impairments to physically interact with their environment. To facilitate the operation of such systems, a variety of components, such as suitable user interfaces and intuitive control of the system, play a crucial role. In this article, we validate our highly integrated assistive robot EDAN, operated by an interface based on bioelectrical signals, combined with shared control and a whole-body coordination of the entire system, through a case study involving people with motor impairments to accomplish real-world activities. Three individuals with amyotrophia were able to perform a range of everyday tasks, including pouring a drink, opening and driving through a door, and opening a drawer. Rather than considering these tasks in isolation, our study focuses on the continuous execution of long sequences of realistic everyday tasks.
KW - Activities of daily living
KW - Assistive robot
KW - Intuitive task execution
KW - Manipulation aid
KW - Re-enabling
KW - sEMG-based interface
KW - Shared control
KW - Whole body control
UR - http://www.scopus.com/inward/record.url?scp=105000072136&partnerID=8YFLogxK
U2 - 10.1038/s41598-025-89405-2
DO - 10.1038/s41598-025-89405-2
M3 - Article
C2 - 40069220
AN - SCOPUS:105000072136
SN - 2045-2322
VL - 15
JO - Scientific Reports
JF - Scientific Reports
IS - 1
M1 - 8426
ER -
