The data presented is very preliminary in nature based on only a few subjects, as we are currently working on completing this study with up to 15 potential end users. Keeping that in mind, with the current voice and touchscreen tablets, it appears that voice is taking longer. In this study we are comparing the same tasks with both interfaces. Also the vocabularies are comparable as each voice command is matched to the equivalent button press on the touch screen. In the future with the addition of computer vision and autonomous path planing your example of “open the door in front of me,” could be possible but for now it is a series of discrete movement commands.

What are you looking to compare PerMMA to since there are few comparable technologies? Most of the other wheelchair mounted robotic arms that have been studied consist of a single fixed mounted robotic arm. PerMMA improves on these other systems in several ways. One, PerMMA incorporates bimanual manipulation for increased capability in performance of activities of daily living. Secondly, PerMMA is an integrated system that includes a robotic base adding to the DOF of the system especially when autonomous control is added, and allows for enhanced mobility with the implementation of advanced features such as traction control and eventually with the evolution of MEbot the ability to climb up to 8" curbs and eventually stairs. Lastly, as PerMMA’s arms are mounted on a carriage, the arm can be relocated out of the way of the user when not needed to allow for greater mobility in tight spaces as well as transfers and other tasks requiring space at the front or side of the wheelchair.
Currently many of the potential users of PerMMA are dependent on caregivers to preform tasks that will be possible with PerMMA, due to the lack of technologies currently suited to meet the needs of users with significant disabilities such as those with a high cervical spinal cord injury.
While there is great promise in brain computer interfaces and neuroprosthetics there are numerous barriers that will need to be addressed before this can become a realistic solution.

That is an intriguing idea that I don’t think we have given much thought to. We have developed remote teleoperation platform for PerMMA as can be seen in the video, consisting of two omni phantom arms, combined with a video stream from the cameras. Using this as a starting platform, we could easily implement the ability to allow for controls of other PerMMAs. The major changes would be to modify the remote control system from the phantom arm input to a touchscreen interface or alternative that matches the capability of the users.
To address whether this is worthwhile, is still up for debate as a few factors come in to play. One is the issues related to privacy and security for the person using PerMMA being remotely controlled, as PerMMA’s cameras could be accessed anywhere due to the use of wifi and 4G cellular networks. Safety is another concern which would need to be addressed to ensure the local user of PerMMA has override capabilities to prevent collisions and any unwanted movements. To what level is a user comfortable with another having the ability to see their environment? To what level does a user want to trade autonomy for assistance? As we have heard many users say they prefer to do a task themselves even if it takes longer than a skilled remote operator.

Overall the response has been very positive. We have even had a male subject cry after independently opening the microwave for the first time in 15 years. Also the reaction of the general public has also be very positive; during one trip to the coffee shop using PerMMA I had a person standing in line next to me casually lean on the arm without giving it a second thought. We do have future plans to look at these types of interactions and responses by people with disabilities and members of the general public.

At the same time, some individuals have been intimidated by the interfaces used to control the system and the overall bulk of the system as a whole. We plan to address these issues as we continue to develop and refine this system. In particular I am working on refining the user interfaces to improve the user experience and allow a greater number of users to use the system more effectively.

Thanks it is always fun to see people’s reactions to PerMMA.

We do plan to continue to slim down the system over time. One feature of the current system that was not highlighted was the ability of the arms to store folded up behind the chair. This is achieved by moving the carriage where the arms are mounted to the rear of the chair via the track that can be seen wrapping around the chair. This allows for the chair to pass through standard accessible doors and allow for navigation of tighter spaces.

Thanks. It is always very rewarding and at times awe inspiring to give someone the ability to do something they never thought they would be able to again or never have been able to do on their own for the first time. I say this not a cliche but as a end user myself who really understands what it means to be able to do something independently and spontaneously.