AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics Article Swipe
Max Pascher
,
Felix Ferdinand Goldau
,
Kirill Kronhardt
,
Udo Frese
,
Jens Gerken
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2310.15887
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2310.15887
With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their widespread success is limited by usability issues, specifically the disparity between user input and software control along the autonomy continuum. To address this, shared control concepts provide opportunities to combine the targeted increase of user autonomy with a certain level of computer assistance. This paper presents the free and open-source AdaptiX XR framework for developing and evaluating shared control applications in a high-resolution simulation environment. The initial framework consists of a simulated robotic arm with an example scenario in Virtual Reality (VR), multiple standard control interfaces, and a specialized recording/replay system. AdaptiX can easily be extended for specific research needs, allowing Human-Robot Interaction (HRI) researchers to rapidly design and test novel interaction methods, intervention strategies, and multi-modal feedback techniques, without requiring an actual physical robotic arm during the early phases of ideation, prototyping, and evaluation. Also, a Robot Operating System (ROS) integration enables the controlling of a real robotic arm in a PhysicalTwin approach without any simulation-reality gap. Here, we review the capabilities and limitations of AdaptiX in detail and present three bodies of research based on the framework. AdaptiX can be accessed at https://adaptix.robot-research.de.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2310.15887
- https://arxiv.org/pdf/2310.15887
- OA Status
- green
- Cited By
- 1
- References
- 55
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4387947541
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https://openalex.org/W4387947541Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2310.15887Digital Object Identifier
- Title
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AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive RoboticsWork title
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preprintOpenAlex work type
- Language
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enPrimary language
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2023Year of publication
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2023-10-24Full publication date if available
- Authors
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Max Pascher, Felix Ferdinand Goldau, Kirill Kronhardt, Udo Frese, Jens GerkenList of authors in order
- Landing page
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https://arxiv.org/abs/2310.15887Publisher landing page
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https://arxiv.org/pdf/2310.15887Direct link to full text PDF
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YesWhether a free full text is available
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greenOpen access status per OpenAlex
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https://arxiv.org/pdf/2310.15887Direct OA link when available
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Human–computer interaction, Usability, Computer science, Autonomy, Robotics, Robot, Popularity, Robotic arm, Control (management), Artificial intelligence, Law, Social psychology, Psychology, Political scienceTop concepts (fields/topics) attached by OpenAlex
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1Total citation count in OpenAlex
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10Other works algorithmically related by OpenAlex
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