Max Pascher; Til Franzen; Kirill Kronhardt; Uwe Gruenefeld; Stefan Schneegass; Jens Gerken
HaptiX: Vibrotactile Haptic Feedback for Communication of 3D Directional Cues Proceedings Article
In: Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems - Extended Abstract (CHI ’23), ACM New York, NY, USA, 2023.
@inproceedings{Pascher2023b,
title = {HaptiX: Vibrotactile Haptic Feedback for Communication of 3D Directional Cues},
author = {Max Pascher and Til Franzen and Kirill Kronhardt and Uwe Gruenefeld and Stefan Schneegass and Jens Gerken},
doi = {10.1145/3544549.3585601},
year = {2023},
date = {2023-04-09},
urldate = {2023-04-09},
booktitle = {Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems - Extended Abstract (CHI ’23)},
address = {New York, NY, USA},
organization = {ACM},
abstract = {In Human-Computer-Interaction, vibrotactile haptic feedback offers the advantage of being independent of any visual perception of the environment. Most importantly, the user's field of view is not obscured by user interface elements, and the visual sense is not unnecessarily strained. This is especially advantageous when the visual channel is already busy, or the visual sense is limited. We developed three design variants based on different vibrotactile illusions to communicate 3D directional cues. In particular, we explored two variants based on the vibrotactile illusion of the cutaneous rabbit and one based on apparent vibrotactile motion. To communicate gradient information, we combined these with pulse-based and intensity-based mapping. A subsequent study showed that the pulse-based variants based on the vibrotactile illusion of the cutaneous rabbit are suitable for communicating both directional and gradient characteristics. The results further show that a representation of 3D directions via vibrations can be effective and beneficial.},
keywords = {},
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In Human-Computer-Interaction, vibrotactile haptic feedback offers the advantage of being independent of any visual perception of the environment. Most importantly, the user's field of view is not obscured by user interface elements, and the visual sense is not unnecessarily strained. This is especially advantageous when the visual channel is already busy, or the visual sense is limited. We developed three design variants based on different vibrotactile illusions to communicate 3D directional cues. In particular, we explored two variants based on the vibrotactile illusion of the cutaneous rabbit and one based on apparent vibrotactile motion. To communicate gradient information, we combined these with pulse-based and intensity-based mapping. A subsequent study showed that the pulse-based variants based on the vibrotactile illusion of the cutaneous rabbit are suitable for communicating both directional and gradient characteristics. The results further show that a representation of 3D directions via vibrations can be effective and beneficial.
Annalies Baumeister; Max Pascher; Yashaswini Shivashankar; Felix Ferdinand Goldau; Udo Frese; Jens Gerken; Elizaveta Gardo; Barbara Klein; Patrizia Tolle
AI for Simplifying the Use of an Assistive Robotic Arm for People with severe Body Impairments Journal Article
In: Gerontechnology, vol. 21, pp. 5, 2022, ISSN: 1569-1101.
@article{Baumeister2022,
title = {AI for Simplifying the Use of an Assistive Robotic Arm for People with severe Body Impairments},
author = {Annalies Baumeister and Max Pascher and Yashaswini Shivashankar and Felix Ferdinand Goldau and Udo Frese and Jens Gerken and Elizaveta Gardo and Barbara Klein and Patrizia Tolle},
doi = {10.4017/gt.2022.21.s.578.5.sp7},
issn = {1569-1101},
year = {2022},
date = {2022-10-24},
urldate = {2022-10-24},
booktitle = {Proceedings of the13th World Conference of Gerontechnology (ISG 2022)},
journal = {Gerontechnology},
volume = {21},
pages = {5},
abstract = {Assistive robotic arms, e.g., the Kinova JACO, aim to assist people with upper-body disabilities in everyday tasks and thus increase their autonomy (Brose et al. 2010; Beaudoin et al.2019). A long-term survey with seven JACO users showed that they were satisfied with the technology and that JACO had a positive psychosocial impact. Still, the users had some difficulties performing daily activities with the arm, e.g., it took them some time to finish a task (Beaudoin et al. 2019). Herlant et al. claim that the main problem for a user is that mode switching is time-consuming and tiring (Herlant et al. 2017). To tackle this issue, deep neural network(s) will be developed to facilitate the use of the robotic arm. A sensor-based situation recognition will be combined with an algorithm-based control to form an adaptive AI-based control system. The project focuses on three main aspects: 1) A neural network providing suggestions for movement options based on training data generated in virtual reality. 2) Exploring data glasses as a possibility for displaying feedback in a user-centered design process. 3) Elicitation of requirements, risks and ethical system evaluation using a participatory approach.},
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Assistive robotic arms, e.g., the Kinova JACO, aim to assist people with upper-body disabilities in everyday tasks and thus increase their autonomy (Brose et al. 2010; Beaudoin et al.2019). A long-term survey with seven JACO users showed that they were satisfied with the technology and that JACO had a positive psychosocial impact. Still, the users had some difficulties performing daily activities with the arm, e.g., it took them some time to finish a task (Beaudoin et al. 2019). Herlant et al. claim that the main problem for a user is that mode switching is time-consuming and tiring (Herlant et al. 2017). To tackle this issue, deep neural network(s) will be developed to facilitate the use of the robotic arm. A sensor-based situation recognition will be combined with an algorithm-based control to form an adaptive AI-based control system. The project focuses on three main aspects: 1) A neural network providing suggestions for movement options based on training data generated in virtual reality. 2) Exploring data glasses as a possibility for displaying feedback in a user-centered design process. 3) Elicitation of requirements, risks and ethical system evaluation using a participatory approach.
Max Pascher; Kirill Kronhardt; Til Franzen; Jens Gerken
Adaptive DoF: Concepts to Visualize AI-generated Movements in Human-Robot Collaboration Proceedings Article
In: Proceedings of the 2022 International Conference on Advanced Visual Interfaces (AVI 2022), ACM, NewYork, NY, USA, 2022, ISBN: 978-1-4503-9719-3/22/06.
@inproceedings{Pascher2022b,
title = {Adaptive DoF: Concepts to Visualize AI-generated Movements in Human-Robot Collaboration},
author = {Max Pascher and Kirill Kronhardt and Til Franzen and Jens Gerken},
doi = {10.1145/3531073.3534479},
isbn = {978-1-4503-9719-3/22/06},
year = {2022},
date = {2022-06-06},
urldate = {2022-06-06},
booktitle = {Proceedings of the 2022 International Conference on Advanced Visual Interfaces (AVI 2022)},
publisher = {ACM},
address = {NewYork, NY, USA},
abstract = {Nowadays, robots collaborate closely with humans in a growing number of areas. Enabled by lightweight materials and safety sensors , these cobots are gaining increasing popularity in domestic care, supporting people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior. This, however, is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their motion intent and comprehending how they "think" about their actions. We work on solutions that communicate the cobots AI-generated motion intent to a human collaborator. Effective communication enables users to proceed with the most suitable option. We present a design exploration with different visualization techniques to optimize this user understanding, ideally resulting in increased safety and end-user acceptance.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Nowadays, robots collaborate closely with humans in a growing number of areas. Enabled by lightweight materials and safety sensors , these cobots are gaining increasing popularity in domestic care, supporting people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior. This, however, is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their motion intent and comprehending how they "think" about their actions. We work on solutions that communicate the cobots AI-generated motion intent to a human collaborator. Effective communication enables users to proceed with the most suitable option. We present a design exploration with different visualization techniques to optimize this user understanding, ideally resulting in increased safety and end-user acceptance.
Kirill Kronhardt; Stephan Rübner; Max Pascher; Felix Goldau; Udo Frese; Jens Gerken
Adapt or Perish? Exploring the Effectiveness of Adaptive DoF Control Interaction Methods for Assistive Robot Arms Journal Article
In: Technologies, vol. 10, iss. 1, no. 30, 2022, ISSN: 2227-7080.
@article{Kronhardt2022,
title = {Adapt or Perish? Exploring the Effectiveness of Adaptive DoF Control Interaction Methods for Assistive Robot Arms},
author = {Kirill Kronhardt and Stephan Rübner and Max Pascher and Felix Goldau and Udo Frese and Jens Gerken},
url = {https://youtu.be/AEK4AOQKz1k},
doi = {10.3390/technologies10010030},
issn = {2227-7080},
year = {2022},
date = {2022-02-14},
urldate = {2022-02-14},
journal = {Technologies},
volume = {10},
number = {30},
issue = {1},
abstract = {Robot arms are one of many assistive technologies used by people with motor impairments.Assistive robot arms can allow people to perform activities of daily living (ADL) involving graspingand manipulating objects in their environment without the assistance of caregivers. Suitable inputdevices (e.g., joysticks) mostly have two Degrees of Freedom (DoF), while most assistive robot armshave six or more. This results in time-consuming and cognitively demanding mode switches tochange the mapping of DoFs to control the robot. One option to decrease the difficulty of controllinga high-DoF assistive robot arm using a low-DoF input device is to assign different combinations ofmovement-DoFs to the device’s input DoFs depending on the current situation (adaptive control). Toexplore this method of control, we designed two adaptive control methods for a realistic virtual 3Denvironment. We evaluated our methods against a commonly used non-adaptive control method thatrequires the user to switch controls manually. This was conducted in a simulated remote study thatused Virtual Reality and involved 39 non-disabled participants. Our results show that the numberof mode switches necessary to complete a simple pick-and-place task decreases significantly whenusing an adaptive control type. In contrast, the task completion time and workload stay the same. Athematic analysis of qualitative feedback of our participants suggests that a longer period of trainingcould further improve the performance of adaptive control methods.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Robot arms are one of many assistive technologies used by people with motor impairments.Assistive robot arms can allow people to perform activities of daily living (ADL) involving graspingand manipulating objects in their environment without the assistance of caregivers. Suitable inputdevices (e.g., joysticks) mostly have two Degrees of Freedom (DoF), while most assistive robot armshave six or more. This results in time-consuming and cognitively demanding mode switches tochange the mapping of DoFs to control the robot. One option to decrease the difficulty of controllinga high-DoF assistive robot arm using a low-DoF input device is to assign different combinations ofmovement-DoFs to the device’s input DoFs depending on the current situation (adaptive control). Toexplore this method of control, we designed two adaptive control methods for a realistic virtual 3Denvironment. We evaluated our methods against a commonly used non-adaptive control method thatrequires the user to switch controls manually. This was conducted in a simulated remote study thatused Virtual Reality and involved 39 non-disabled participants. Our results show that the numberof mode switches necessary to complete a simple pick-and-place task decreases significantly whenusing an adaptive control type. In contrast, the task completion time and workload stay the same. Athematic analysis of qualitative feedback of our participants suggests that a longer period of trainingcould further improve the performance of adaptive control methods.
Max Pascher; Kirill Kronhardt; Til Franzen; Uwe Gruenefeld; Stefan Schneegass; Jens Gerken
My Caregiver the Cobot: Comparing Visualization Techniques to Effectively Communicate Cobot Perception to People with Physical Impairments Journal Article
In: Sensors, vol. 22, iss. 3, no. 755, 2022, ISSN: 1424-8220.
@article{Pascher2022,
title = {My Caregiver the Cobot: Comparing Visualization Techniques to Effectively Communicate Cobot Perception to People with Physical Impairments},
author = {Max Pascher and Kirill Kronhardt and Til Franzen and Uwe Gruenefeld and Stefan Schneegass and Jens Gerken},
doi = {10.3390/s22030755},
issn = {1424-8220},
year = {2022},
date = {2022-01-19},
urldate = {2022-01-19},
journal = {Sensors},
volume = {22},
number = {755},
issue = {3},
abstract = {Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots increasingly gain popularity in domestic care, where they support people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their perception and comprehending how they "see" the world. To tackle this challenge, we compared three different visualization techniques for Spatial Augmented Reality. All of these communicate cobot perception by visually indicating which objects in the cobot's surrounding have been identified by their sensors. We compared the well-established visualizations Wedge and Halo against our proposed visualization Line in a remote user study with participants suffering from physical impairments. In a second remote study, we validated these findings with a broader non-specific user base. Our findings show that Line, a lower complexity visualization, results in significantly faster reaction times compared to Halo, and lower task load compared to both Wedge and Halo. Overall, users prefer Line as a more straightforward visualization. In Spatial Augmented Reality, with its known disadvantage of limited projection area size, established off-screen visualizations are not effective in communicating cobot perception and Line presents an easy-to-understand alternative.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots increasingly gain popularity in domestic care, where they support people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their perception and comprehending how they "see" the world. To tackle this challenge, we compared three different visualization techniques for Spatial Augmented Reality. All of these communicate cobot perception by visually indicating which objects in the cobot's surrounding have been identified by their sensors. We compared the well-established visualizations Wedge and Halo against our proposed visualization Line in a remote user study with participants suffering from physical impairments. In a second remote study, we validated these findings with a broader non-specific user base. Our findings show that Line, a lower complexity visualization, results in significantly faster reaction times compared to Halo, and lower task load compared to both Wedge and Halo. Overall, users prefer Line as a more straightforward visualization. In Spatial Augmented Reality, with its known disadvantage of limited projection area size, established off-screen visualizations are not effective in communicating cobot perception and Line presents an easy-to-understand alternative.
Annalies Baumeister; Elizaveta Gardo; Patrizia Tolle; Barbara Klein; Max Pascher; Jens Gerken; Felix Goldau; Yashaswini Shivashankar; Udo Frese
The Importance of Participatory Design for the Development of Assistive Robotic Arms. Initial Approaches and Experiences in the Research Projects MobILe and DoF-Adaptiv Proceedings Article
In: Proceedings of Connected Living : international and interdisciplinary conference (2021), Frankfurt am Main, Germany, 2021.
@inproceedings{Baumeister2021,
title = {The Importance of Participatory Design for the Development of Assistive Robotic Arms. Initial Approaches and Experiences in the Research Projects MobILe and DoF-Adaptiv},
author = {Annalies Baumeister and Elizaveta Gardo and Patrizia Tolle and Barbara Klein and Max Pascher and Jens Gerken and Felix Goldau and Yashaswini Shivashankar and Udo Frese},
doi = {10.48718/8p7x-cw14},
year = {2021},
date = {2021-10-08},
urldate = {2021-10-08},
booktitle = {Proceedings of Connected Living : international and interdisciplinary conference (2021)},
address = {Frankfurt am Main, Germany},
abstract = {This Article introduces two research projects towards assistive robotic arms for people with severe body impairments. Both projects aim to develop new control and interaction designs to promote accessibility and a better performance for people with functional losses in all four extremities, e.g. due to quadriplegic or multiple sclerosis. The project MobILe concentrates on using a robotic arm as drinking aid and controlling it with smart glasses, eye-tracking and augmented reality. A user oriented development process with participatory methods were pursued which brought new knowledge about the life and care situation of the future target group and the requirements a robotic drinking aid needs to meet. As a consequence the new project DoF-Adaptiv follows an even more participatory approach, including the future target group, their family and professional caregivers from the beginning into decision making and development processes within the project. DoF-Adaptiv aims to simplify the control modalities of assistive robotic arms to enhance the usability of the robotic arm for activities of daily living. lo decide on exemplary activities, like eating or open a door, the future target group, their family and professional caregivers are included in the decision making process. Furthermore all relevant stakeholders will be included in the investigation of ethical, legal and social implications as well as the identification of potential risks. This article will show the importance of the participatory design for the development and research process in MobILe and DoF-Adaptiv.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
This Article introduces two research projects towards assistive robotic arms for people with severe body impairments. Both projects aim to develop new control and interaction designs to promote accessibility and a better performance for people with functional losses in all four extremities, e.g. due to quadriplegic or multiple sclerosis. The project MobILe concentrates on using a robotic arm as drinking aid and controlling it with smart glasses, eye-tracking and augmented reality. A user oriented development process with participatory methods were pursued which brought new knowledge about the life and care situation of the future target group and the requirements a robotic drinking aid needs to meet. As a consequence the new project DoF-Adaptiv follows an even more participatory approach, including the future target group, their family and professional caregivers from the beginning into decision making and development processes within the project. DoF-Adaptiv aims to simplify the control modalities of assistive robotic arms to enhance the usability of the robotic arm for activities of daily living. lo decide on exemplary activities, like eating or open a door, the future target group, their family and professional caregivers are included in the decision making process. Furthermore all relevant stakeholders will be included in the investigation of ethical, legal and social implications as well as the identification of potential risks. This article will show the importance of the participatory design for the development and research process in MobILe and DoF-Adaptiv.
Florian Borsum; Max Pascher; Jonas Auda; Stefan Schneegass; Gregor Lux; Jens Gerken
Stay on Course in VR: Comparing the Precision of Movement betweenGamepad, Armswinger, and Treadmill Proceedings Article
In: Mensch und Computer 2021 - Tagungsband, Gesellschaft für Informatik e.V., Bonn, Germany, 2021, ISBN: 978-1-4503-8645-6/21/09.
@inproceedings{Borsum2021,
title = {Stay on Course in VR: Comparing the Precision of Movement betweenGamepad, Armswinger, and Treadmill},
author = {Florian Borsum and Max Pascher and Jonas Auda and Stefan Schneegass and Gregor Lux and Jens Gerken},
doi = {10.1145/3473856.3473880},
isbn = {978-1-4503-8645-6/21/09},
year = {2021},
date = {2021-09-05},
urldate = {2021-09-05},
booktitle = {Mensch und Computer 2021 - Tagungsband},
publisher = {Gesellschaft für Informatik e.V.},
address = {Bonn, Germany},
abstract = {In diesem Beitrag wird untersucht, inwieweit verschiedene Formen von Fortbewegungstechniken in Virtual Reality UmgebungenEinfluss auf die Präzision bei der Interaktion haben. Dabei wurden insgesamt drei Techniken untersucht: Zwei der Techniken integrierendabei eine körperliche Aktivität, um einen hohen Grad an Realismus in der Bewegung zu erzeugen (Armswinger, Laufstall). Alsdritte Technik wurde ein Gamepad als Baseline herangezogen. In einer Studie mit 18 Proband:innen wurde die Präzision dieser dreiFortbewegungstechniken über sechs unterschiedliche Hindernisse in einem VR-Parcours untersucht. Die Ergebnisse zeigen, dassfür einzelne Hindernisse, die zum einen eine Kombination aus Vorwärts- und Seitwärtsbewegung erfordern (Slalom, Klippe) sowieauf Geschwindigkeit abzielen (Schiene), der Laufstall eine signifikant präzisere Steuerung ermöglicht als der Armswinger. Auf dengesamten Parcours gesehen ist jedoch kein Eingabegerät signifikant präziser als ein anderes. Die Benutzung des Laufstalls benötigtzudem signifikant mehr Zeit als Gamepad und Armswinger. Ebenso zeigte sich, dass das Ziel, eine reale Laufbewegung 1:1 abzubilden,auch mit einem Laufstall nach wie vor nicht erreicht wird, die Bewegung aber dennoch als intuitiv und immersiv wahrgenommenwird.},
keywords = {},
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}
In diesem Beitrag wird untersucht, inwieweit verschiedene Formen von Fortbewegungstechniken in Virtual Reality UmgebungenEinfluss auf die Präzision bei der Interaktion haben. Dabei wurden insgesamt drei Techniken untersucht: Zwei der Techniken integrierendabei eine körperliche Aktivität, um einen hohen Grad an Realismus in der Bewegung zu erzeugen (Armswinger, Laufstall). Alsdritte Technik wurde ein Gamepad als Baseline herangezogen. In einer Studie mit 18 Proband:innen wurde die Präzision dieser dreiFortbewegungstechniken über sechs unterschiedliche Hindernisse in einem VR-Parcours untersucht. Die Ergebnisse zeigen, dassfür einzelne Hindernisse, die zum einen eine Kombination aus Vorwärts- und Seitwärtsbewegung erfordern (Slalom, Klippe) sowieauf Geschwindigkeit abzielen (Schiene), der Laufstall eine signifikant präzisere Steuerung ermöglicht als der Armswinger. Auf dengesamten Parcours gesehen ist jedoch kein Eingabegerät signifikant präziser als ein anderes. Die Benutzung des Laufstalls benötigtzudem signifikant mehr Zeit als Gamepad und Armswinger. Ebenso zeigte sich, dass das Ziel, eine reale Laufbewegung 1:1 abzubilden,auch mit einem Laufstall nach wie vor nicht erreicht wird, die Bewegung aber dennoch als intuitiv und immersiv wahrgenommenwird.
Max Pascher; Annalies Baumeister; Stefan Schneegass; Barbara Klein; Jens Gerken
Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study Proceedings Article
In: Carmelo Ardito, Rosa Lanzilotti, Alessio Malizia, Helen Petrie, Antonio Piccinno, Giuseppe Desolda, Kori Inkpen (Ed.): Human-Computer Interaction – INTERACT 2021, Springer, Cham, 2021, ISBN: 978-3-030-85623-6.
@inproceedings{Pascher2021,
title = {Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study },
author = {Max Pascher and Annalies Baumeister and Stefan Schneegass and Barbara Klein and Jens Gerken},
editor = {Carmelo Ardito, Rosa Lanzilotti, Alessio Malizia, Helen Petrie, Antonio Piccinno, Giuseppe Desolda, Kori Inkpen},
doi = {10.1007/978-3-030-85623-6_21},
isbn = {978-3-030-85623-6},
year = {2021},
date = {2021-09-01},
urldate = {2021-09-01},
booktitle = {Human-Computer Interaction – INTERACT 2021},
publisher = {Springer, Cham},
abstract = {Being able to live independently and self-determined in one's own home is a crucial factor for human dignity and preservation of self-worth. For people with severe physical impairments who cannot use their limbs for every day tasks, living in their own home is only possible with assistance from others. The inability to move arms and hands makes it hard to take care of oneself, e. g. drinking and eating independently. In this paper, we investigate how 15 participants with disabilities consume food and drinks. We report on interviews, participatory observations, and analyzed the aids they currently use. Based on our findings, we derive a set of recommendations that supports researchers and practitioners in designing future robotic drinking and eating aids for people with disabilities.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Being able to live independently and self-determined in one's own home is a crucial factor for human dignity and preservation of self-worth. For people with severe physical impairments who cannot use their limbs for every day tasks, living in their own home is only possible with assistance from others. The inability to move arms and hands makes it hard to take care of oneself, e. g. drinking and eating independently. In this paper, we investigate how 15 participants with disabilities consume food and drinks. We report on interviews, participatory observations, and analyzed the aids they currently use. Based on our findings, we derive a set of recommendations that supports researchers and practitioners in designing future robotic drinking and eating aids for people with disabilities.
Stephanie Arévalo-Arboleda; Max Pascher; Annalies Baumeister; Barbara Klein; Jens Gerken
Reflecting upon Participatory Design in Human-Robot Collaboration for People with Motor Disabilities: Challenges and Lessons Learned from Three Multiyear Projects Proceedings Article
In: The 14th PErvasive Technologies Related to Assistive Environments Conference - PETRA 2021, ACM 2021, ISBN: 978-1-4503-8792-7/21/06.
@inproceedings{Arévalo-Arboleda2021,
title = {Reflecting upon Participatory Design in Human-Robot Collaboration for People with Motor Disabilities: Challenges and Lessons Learned from Three Multiyear Projects},
author = {Stephanie Arévalo-Arboleda and Max Pascher and Annalies Baumeister and Barbara Klein and Jens Gerken},
doi = {10.1145/3453892.3458044},
isbn = {978-1-4503-8792-7/21/06},
year = {2021},
date = {2021-06-29},
urldate = {2021-06-29},
booktitle = {The 14th PErvasive Technologies Related to Assistive Environments Conference - PETRA 2021},
organization = {ACM},
abstract = {Human-robot technology has the potential to positively impact the lives of people with motor disabilities. However, current efforts have mostly been oriented towards technology (sensors, devices, modalities, interaction techniques), thus relegating the user and their valuable input to the wayside. In this paper, we aim to present a holistic perspective of the role of participatory design in Human-Robot Collaboration (HRC) for People with Motor Disabilities (PWMD). We have been involved in several multiyear projects related to HRC for PWMD, where we encountered different challenges related to planning and participation, preferences of stakeholders, using certain participatory design techniques, technology exposure, as well as ethical, legal, and social implications. These challenges helped us provide five lessons learned that could serve as a guideline to researchers when using participatory design with vulnerable groups. In particular, young researchers who are starting to explore HRC research for people with disabilities.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Human-robot technology has the potential to positively impact the lives of people with motor disabilities. However, current efforts have mostly been oriented towards technology (sensors, devices, modalities, interaction techniques), thus relegating the user and their valuable input to the wayside. In this paper, we aim to present a holistic perspective of the role of participatory design in Human-Robot Collaboration (HRC) for People with Motor Disabilities (PWMD). We have been involved in several multiyear projects related to HRC for PWMD, where we encountered different challenges related to planning and participation, preferences of stakeholders, using certain participatory design techniques, technology exposure, as well as ethical, legal, and social implications. These challenges helped us provide five lessons learned that could serve as a guideline to researchers when using participatory design with vulnerable groups. In particular, young researchers who are starting to explore HRC research for people with disabilities.
Max Pascher
Praxisbeispiel Digitalisierung konkret: Wenn der Stromzähler weiß, ob es Oma gut geht. Beschreibung des minimalinvasiven Frühwarnsystems „ZELIA“ Book Chapter
In: Michael Vilain (Ed.): pp. 137-148, Nomos Verlagsgesellschaft mbH & Co. KG, 2020, ISBN: 78-3-8487-6621-5.
BibTeX | Links:
@inbook{Pascher2020,
title = {Praxisbeispiel Digitalisierung konkret: Wenn der Stromzähler weiß, ob es Oma gut geht. Beschreibung des minimalinvasiven Frühwarnsystems „ZELIA“},
author = {Max Pascher},
editor = {Michael Vilain},
doi = {10.5771/9783748907008-137},
isbn = {78-3-8487-6621-5},
year = {2020},
date = {2020-10-06},
urldate = {2020-10-06},
pages = {137-148},
publisher = {Nomos Verlagsgesellschaft mbH & Co. KG},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
Stephanie Arévalo-Arboleda; Max Pascher; Younes Lakhnati; Jens Gerken
Understanding Human-Robot Collaboration for People with Mobility Impairments at the Workplace, a Thematic Analysis Proceedings Article
In: RO-MAN 2020 - IEEE International Conference on Robot and Human Interactive Communication, IEEE, 2020, ISBN: 978-1-7281-6075-7.
@inproceedings{Arévalo-Arboleda2020,
title = {Understanding Human-Robot Collaboration for People with Mobility Impairments at the Workplace, a Thematic Analysis},
author = {Stephanie Arévalo-Arboleda and Max Pascher and Younes Lakhnati and Jens Gerken},
doi = {10.1109/RO-MAN47096.2020.9223489},
isbn = {978-1-7281-6075-7},
year = {2020},
date = {2020-07-31},
urldate = {2020-07-31},
booktitle = {RO-MAN 2020 - IEEE International Conference on Robot and Human Interactive Communication},
publisher = {IEEE},
abstract = {Assistive technologies, in particular human-robot collaboration, have the potential to ease the life of people with physical mobility impairments in social and economic activities. Currently, this group of people has lower rates of economic participation, due to the lack of adequate environments adapted to their capabilities. We take a closer look at the needs and preferences of people with physical mobility impairments in a human-robot cooperative environment at the workplace. Specifically, we aim to design how to control a robotic arm in manufacturing tasks for people with physical mobility impairments. We present a case study of a shelteredworkshop as a prototype for an institution that employs people with disabilities in manufacturing jobs. Here, we collected data of potential end-users with physical mobility impairments, social workers, and supervisors using a Participatory Design technique (Future-Workshop). These stakeholders were divided into two groups, end-users and supervising personnel (social workers, supervisors), which were run across two separate sessions. The gathered information was analyzed using thematic analysis to reveal underlying themes across stakeholders. We identified concepts that highlight underlying concerns related to the robot fitting into the social and organizational structure, human-robot synergy, and human-robot problem management. In this paper, we present our findings and discuss the implications of each theme when shaping an inclusive humanrobot cooperative workstation for people with physical mobility impairments.},
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Assistive technologies, in particular human-robot collaboration, have the potential to ease the life of people with physical mobility impairments in social and economic activities. Currently, this group of people has lower rates of economic participation, due to the lack of adequate environments adapted to their capabilities. We take a closer look at the needs and preferences of people with physical mobility impairments in a human-robot cooperative environment at the workplace. Specifically, we aim to design how to control a robotic arm in manufacturing tasks for people with physical mobility impairments. We present a case study of a shelteredworkshop as a prototype for an institution that employs people with disabilities in manufacturing jobs. Here, we collected data of potential end-users with physical mobility impairments, social workers, and supervisors using a Participatory Design technique (Future-Workshop). These stakeholders were divided into two groups, end-users and supervising personnel (social workers, supervisors), which were run across two separate sessions. The gathered information was analyzed using thematic analysis to reveal underlying themes across stakeholders. We identified concepts that highlight underlying concerns related to the robot fitting into the social and organizational structure, human-robot synergy, and human-robot problem management. In this paper, we present our findings and discuss the implications of each theme when shaping an inclusive humanrobot cooperative workstation for people with physical mobility impairments.
Max Pascher; Stefan Schneegass; Jens Gerken
SwipeBuddy: A Teleoperated Tablet and Ebook-Reader Holder for a Hands-Free Interaction Proceedings Article
In: David Lamas; Fernando Loizides; Lennart Nacke; Helen Petrie; Marco Winckler; Panayiotis Zaphiris (Ed.): Human-Computer Interaction – INTERACT 2019, pp. 568-571, Springer, Cham, 2019, ISBN: 978-3-030-29390-1.
@inproceedings{Pascher2019b,
title = {SwipeBuddy: A Teleoperated Tablet and Ebook-Reader Holder for a Hands-Free Interaction},
author = {Max Pascher and Stefan Schneegass and Jens Gerken},
editor = {David Lamas and Fernando Loizides and Lennart Nacke and Helen Petrie and Marco Winckler and Panayiotis Zaphiris},
url = {https://youtu.be/EZ5YSRRO_2o},
doi = {10.1007/978-3-030-29390-1_39},
isbn = {978-3-030-29390-1},
year = {2019},
date = {2019-08-23},
urldate = {2019-08-23},
booktitle = {Human-Computer Interaction – INTERACT 2019},
volume = {11749},
pages = {568-571},
publisher = {Springer, Cham},
abstract = {Mobile devices are the core computing platform we use in our everyday life to communicate with friends, watch movies, or read books. For people with severe physical disabilities, such as tetraplegics, who cannot use their hands to operate such devices, these devices are barely usable. Tackling this challenge, we propose SwipeBuddy, a teleoperated robot allowing for touch interaction with a smartphone, tablet, or ebook-reader. The mobile device is mounted on top of the robot and can be teleoperated by a user through head motions and gestures controlling a stylus simulating touch input. Further, the user can control the position and orientation of the mobile device. We demonstrate the SwipeBuddy robot device and its different interaction capabilities.},
keywords = {},
pubstate = {published},
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}
Mobile devices are the core computing platform we use in our everyday life to communicate with friends, watch movies, or read books. For people with severe physical disabilities, such as tetraplegics, who cannot use their hands to operate such devices, these devices are barely usable. Tackling this challenge, we propose SwipeBuddy, a teleoperated robot allowing for touch interaction with a smartphone, tablet, or ebook-reader. The mobile device is mounted on top of the robot and can be teleoperated by a user through head motions and gestures controlling a stylus simulating touch input. Further, the user can control the position and orientation of the mobile device. We demonstrate the SwipeBuddy robot device and its different interaction capabilities.
Max Pascher; Annalies Baumeister; Barbara Klein; Stefan Schneegass; Jens Gerken
Little Helper: A Multi-Robot System in Home Health Care Environments Proceedings Article
In: Proceedings of the 2019 International workshop on Human-Drone Interaction (iHDI) as part of the ACM Conference on Human Factors in Computing Systems, ACM 2019.
@inproceedings{Pascher2019,
title = {Little Helper: A Multi-Robot System in Home Health Care Environments},
author = {Max Pascher and Annalies Baumeister and Barbara Klein and Stefan Schneegass and Jens Gerken},
url = {https://hal.archives-ouvertes.fr/hal-02128382},
year = {2019},
date = {2019-05-04},
urldate = {2019-05-04},
booktitle = {Proceedings of the 2019 International workshop on Human-Drone Interaction (iHDI) as part of the ACM Conference on Human Factors in Computing Systems},
organization = {ACM},
abstract = {Being able to live independently and self-determined in once own home is a crucial factor for social participation. For people with severe physical impairments, such as tetraplegia, who cannot use their hands to manipulate materials or operate devices, life in their own home is only possible with assistance from others. The inability to operate buttons and other interfaces results also in not being able to utilize most assistive technologies on their own. In this paper, we present an ethnographic field study with 15 tetraplegics to better understand their living environments and needs. Results show the potential for robotic solutions but emphasize the need to support activities of daily living (ADL), such as grabbing and manipulating objects or opening doors. Based on this, we propose Little Helper, a tele-operated pack of robot drones, collaborating in a divide and conquer paradigm to fulfill several tasks using a unique interaction method. The drones can be tele-operated by a user through gaze-based selection and head motions and gestures manipulating materials and applications.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Being able to live independently and self-determined in once own home is a crucial factor for social participation. For people with severe physical impairments, such as tetraplegia, who cannot use their hands to manipulate materials or operate devices, life in their own home is only possible with assistance from others. The inability to operate buttons and other interfaces results also in not being able to utilize most assistive technologies on their own. In this paper, we present an ethnographic field study with 15 tetraplegics to better understand their living environments and needs. Results show the potential for robotic solutions but emphasize the need to support activities of daily living (ADL), such as grabbing and manipulating objects or opening doors. Based on this, we propose Little Helper, a tele-operated pack of robot drones, collaborating in a divide and conquer paradigm to fulfill several tasks using a unique interaction method. The drones can be tele-operated by a user through gaze-based selection and head motions and gestures manipulating materials and applications.
Jonas Auda; Max Pascher; Stefan Schneegass
Around the (Virtual) World: Infinite Walking in Virtual Reality Using Electrical Muscle Stimulation Proceedings Article
In: Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems, 2019, ISBN: 978-1-4503-5970-2/19/05.
@inproceedings{Auda2019,
title = {Around the (Virtual) World: Infinite Walking in Virtual Reality Using Electrical Muscle Stimulation},
author = {Jonas Auda and Max Pascher and Stefan Schneegass},
doi = {10.1145/3290605.3300661},
isbn = {978-1-4503-5970-2/19/05},
year = {2019},
date = {2019-04-18},
urldate = {2019-04-18},
booktitle = {Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems},
abstract = {Virtual worlds are infinite environments in which the user can move around freely. When shifting from controller based movement to regular walking as input, the limitation of the real world also limits the virtual world. Tackling this challenge, we propose the use of electrical muscle stimulation to limit the necessary real world space to create an unlimited walking experience. We thereby actuate the users' legs in a way that they deviate from their straight route and, thus, walk in circles in the real world world while still walking straight in the virtual world. We report on a study comparing this approach to vision shift - the state of the art approach - as well as combining both approaches. The results show that particularly combining both approaches yield high potential to create an infinite walking experience.},
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pubstate = {published},
tppubtype = {inproceedings}
}
Virtual worlds are infinite environments in which the user can move around freely. When shifting from controller based movement to regular walking as input, the limitation of the real world also limits the virtual world. Tackling this challenge, we propose the use of electrical muscle stimulation to limit the necessary real world space to create an unlimited walking experience. We thereby actuate the users' legs in a way that they deviate from their straight route and, thus, walk in circles in the real world world while still walking straight in the virtual world. We report on a study comparing this approach to vision shift - the state of the art approach - as well as combining both approaches. The results show that particularly combining both approaches yield high potential to create an infinite walking experience.
Max Pascher; Lukas Wöhle
SwipeTank - A teleoperated tablet and ebook-reader holder for a hands-free interaction Working paper
2018.
@workingpaper{Pascher2018,
title = {SwipeTank - A teleoperated tablet and ebook-reader holder for a hands-free interaction},
author = {Max Pascher and Lukas Wöhle},
year = {2018},
date = {2018-10-14},
urldate = {2018-10-14},
abstract = {This extended abstracts provides a contribution for the Student Innovation Contest of the UIST'18. We will build a tank-like tablet and ebook-reader that can be teleoperated by a user through headmotion and gestures to provide a hands-free interaction mode.},
keywords = {},
pubstate = {published},
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This extended abstracts provides a contribution for the Student Innovation Contest of the UIST'18. We will build a tank-like tablet and ebook-reader that can be teleoperated by a user through headmotion and gestures to provide a hands-free interaction mode.
Annalies Baumeister; Max Pascher; Roland Thietje; Jens Gerken; Barbara Klein
Anforderungen an die Interaktion eines Roboterarms zur Nahrungsaufnahme bei Tetraplegie – Eine ethnografische Analyse Proceedings Article
In: Kongress und Ausstellung zu Alltagsunterstützenden Assistenzlösungen / Active Assisted Living (AAL) - Tagungsband, pp. 100-101, Karlsruher Messe- und Kongress GmbH Karlsruhe, Germany, 2018.
@inproceedings{Baumeister2018,
title = {Anforderungen an die Interaktion eines Roboterarms zur Nahrungsaufnahme bei Tetraplegie – Eine ethnografische Analyse},
author = {Annalies Baumeister and Max Pascher and Roland Thietje and Jens Gerken and Barbara Klein},
year = {2018},
date = {2018-10-11},
urldate = {2018-10-11},
booktitle = {Kongress und Ausstellung zu Alltagsunterstützenden Assistenzlösungen / Active Assisted Living (AAL) - Tagungsband},
pages = {100-101},
address = {Karlsruhe, Germany},
organization = {Karlsruher Messe- und Kongress GmbH},
abstract = {Selbstständig und selbstbestimmt essen und trinken zu können gehört zu den Grundbedürfnissen des Menschen und wird den Aktivitäten des täglichen Lebens (ATLs) zugeordnet.
Körperliche Beeinträchtigungen, die mit Funktionsverlusten in Armen, Händen und ggf. der Beweglichkeit des Oberkörpers einhergehen, schränken die selbstständige Nahrungszufuhr erheblich ein. Die Betroffenen sind darauf angewiesen, dass ihnen Getränke und Mahlzeiten zubereitet, bereitgestellt und angereicht werden. Zu dieser Personengruppe gehören Menschen mit querschnittbedingter Tetraplegie, Multiple Sklerose, Muskeldystrophie und Erkrankungen mit ähnlichen Auswirkungen. Derzeit gibt es verschiedene assistive Technologien, die das selbstständige Essen und Trinken wieder ermöglichen sollen – darunter Essapparate, die auf einem Tisch platziert werden (z.B. iEat
, Obi), sowie an einem E-Rollstuhl befestigte Roboterarme (z.B. Jaco, iArm). Diesen Produkten ist gemeinsam, dass für die Bedienung Restfunktionen in Armen, Händen und Oberkörper benötigt werden. Wie aber muss ein Interaktionsdesign für einen Roboterarm gestaltet sein, damit er von den Betroffenen zur Nahrungsaufnahme genutzt werden kann? Welche Anforderungen gibt es und welche Aspekte sind in Bezug auf die Akzeptanz eines Roboterarms zu berücksichtigen? },
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Selbstständig und selbstbestimmt essen und trinken zu können gehört zu den Grundbedürfnissen des Menschen und wird den Aktivitäten des täglichen Lebens (ATLs) zugeordnet.
Körperliche Beeinträchtigungen, die mit Funktionsverlusten in Armen, Händen und ggf. der Beweglichkeit des Oberkörpers einhergehen, schränken die selbstständige Nahrungszufuhr erheblich ein. Die Betroffenen sind darauf angewiesen, dass ihnen Getränke und Mahlzeiten zubereitet, bereitgestellt und angereicht werden. Zu dieser Personengruppe gehören Menschen mit querschnittbedingter Tetraplegie, Multiple Sklerose, Muskeldystrophie und Erkrankungen mit ähnlichen Auswirkungen. Derzeit gibt es verschiedene assistive Technologien, die das selbstständige Essen und Trinken wieder ermöglichen sollen – darunter Essapparate, die auf einem Tisch platziert werden (z.B. iEat
, Obi), sowie an einem E-Rollstuhl befestigte Roboterarme (z.B. Jaco, iArm). Diesen Produkten ist gemeinsam, dass für die Bedienung Restfunktionen in Armen, Händen und Oberkörper benötigt werden. Wie aber muss ein Interaktionsdesign für einen Roboterarm gestaltet sein, damit er von den Betroffenen zur Nahrungsaufnahme genutzt werden kann? Welche Anforderungen gibt es und welche Aspekte sind in Bezug auf die Akzeptanz eines Roboterarms zu berücksichtigen?
Körperliche Beeinträchtigungen, die mit Funktionsverlusten in Armen, Händen und ggf. der Beweglichkeit des Oberkörpers einhergehen, schränken die selbstständige Nahrungszufuhr erheblich ein. Die Betroffenen sind darauf angewiesen, dass ihnen Getränke und Mahlzeiten zubereitet, bereitgestellt und angereicht werden. Zu dieser Personengruppe gehören Menschen mit querschnittbedingter Tetraplegie, Multiple Sklerose, Muskeldystrophie und Erkrankungen mit ähnlichen Auswirkungen. Derzeit gibt es verschiedene assistive Technologien, die das selbstständige Essen und Trinken wieder ermöglichen sollen – darunter Essapparate, die auf einem Tisch platziert werden (z.B. iEat
, Obi), sowie an einem E-Rollstuhl befestigte Roboterarme (z.B. Jaco, iArm). Diesen Produkten ist gemeinsam, dass für die Bedienung Restfunktionen in Armen, Händen und Oberkörper benötigt werden. Wie aber muss ein Interaktionsdesign für einen Roboterarm gestaltet sein, damit er von den Betroffenen zur Nahrungsaufnahme genutzt werden kann? Welche Anforderungen gibt es und welche Aspekte sind in Bezug auf die Akzeptanz eines Roboterarms zu berücksichtigen?
Stephanie Arévalo-Arboleda; Max Pascher; Jens Gerken
Opportunities and Challenges in Mixed-Reality for an Inclusive Human-Robot Collaboration Environment Proceedings Article
In: Proceedings of the 2018 International Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI) as part of the ACM/IEEE Conference on Human-Robot Interaction, pp. 83–86, Chicago, IL, USA, 2018.
@inproceedings{Arévalo-Arboleda2018,
title = {Opportunities and Challenges in Mixed-Reality for an Inclusive Human-Robot Collaboration Environment},
author = {Stephanie Arévalo-Arboleda and Max Pascher and Jens Gerken},
year = {2018},
date = {2018-03-05},
urldate = {2018-03-05},
booktitle = {Proceedings of the 2018 International Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI) as part of the ACM/IEEE Conference on Human-Robot Interaction},
pages = {83--86},
address = {Chicago, IL, USA},
abstract = {This paper presents an approach to enhance robot control using Mixed-Reality. It highlights the opportunities and challenges in the interaction design to achieve a Human-Robot Collaborative environment. In fact, Human-Robot Collaboration is the perfect space for social inclusion. It enables people, who suffer severe physical impairments, to interact with the environment by providing them movement control of an external robotic arm. Now, when discussing about robot control it is important to reduce the visual-split that different input and output modalities carry. Therefore, Mixed-Reality is of particular interest when trying to ease communication between humans and robotic systems.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper presents an approach to enhance robot control using Mixed-Reality. It highlights the opportunities and challenges in the interaction design to achieve a Human-Robot Collaborative environment. In fact, Human-Robot Collaboration is the perfect space for social inclusion. It enables people, who suffer severe physical impairments, to interact with the environment by providing them movement control of an external robotic arm. Now, when discussing about robot control it is important to reduce the visual-split that different input and output modalities carry. Therefore, Mixed-Reality is of particular interest when trying to ease communication between humans and robotic systems.
Max Pascher
Konzeption und prototypische Realisierung einer Software-Architektur für ein verteiltes System zur Aufzeichnung, Verarbeitung und Analyse von Energieverbrauchswerten Masters Thesis
Westphalian University of Applied Sciences, 2015.
@mastersthesis{Pascher2015,
title = {Konzeption und prototypische Realisierung einer Software-Architektur für ein verteiltes System zur Aufzeichnung, Verarbeitung und Analyse von Energieverbrauchswerten},
author = {Max Pascher},
year = {2015},
date = {2015-08-25},
urldate = {2015-08-25},
school = {Westphalian University of Applied Sciences},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}