The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present an investigation into modeling of athetoid motion and prediction of user intent, for use in assistive computer interfaces during icon-clicking tasks. Data were recorded from three athetoid patients during unassisted icon-clicking trials with an isometric joystick. In order to facilitate development and testing of filter designs without the difficulty of repeated testing with human subjects, a quantitative model of the recorded patient data was developed using pseudoinverse methods. Using this model within the visuomotor control loop for the icon-clicking task, a prediction filter was then developed to reduce the target acquisition time. The filter is based on a novel "autoregressive stretching window" model which selects five data points evenly distributed across the input and output histories to predict the intended target, together with a second-order system that smoothes the movement of the cursor. On average, the filter demonstrated a reduction of target acquisition time by a factor of 2.7 in experiments with the patient models.

Keywords

graphical user interfaces , handicapped aids , human factors , interactive devices , medical control systems, athetosis

Notes

Sponsor: National Institutes of Health

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Joystick Filtering for Movement Disorders

Text Reference

K. C. Olds, S. Sibenaller, Rory Cooper, Dan Ding, and Cameron Riviere, "Target prediction for icon clicking by athetoid persons," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2008, pp. 2043-2048.

BibTeX Reference

@inproceedings{Cooper_2008_6713,
   author = "K. C. Olds and S. Sibenaller and Rory Cooper and Dan Ding and Cameron Riviere",
   title = "Target prediction for icon clicking by athetoid persons",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
   pages = "2043-2048",
   month = "May",
   year = "2008",
}

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