Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to manage multiple Degrees-of-Freedom (DoFs) for tasks like grasping and manipulating objects. Conventional input devices, typically limited to two DoFs, necessitate frequent and complex mode switches to control individual DoFs. Modern adaptive controls with feed-forward multi-modal feedback reduce the overall task completion time, number of mode switches, and cognitive load. Despite the variety of input devices available, their effectiveness in adaptive settings with assistive robotics has yet to be thoroughly assessed. This study explores three different input devices by integrating them into an established XR framework for assistive robotics, evaluating them and providing empirical insights through a preliminary study for future developments.

通过将机械手臂整合到辅助机器人的已建立的XR框架中，通过评估三种不同的输入设备，为未来的发展提供经验证据，这项研究探索了在日常生活活动中与运动障碍个体的家庭护理密不可分的机械手臂，并通过初步研究提供了实证见解。

探索AI增强的辅助机器人臂的离散和连续输入控制