TIAGo Robot Teleoperation via Body-Machine Interface: Enhancing Assistance for Cervical Spinal Cord Injured Individuals

Cervical spinal cord injury (cSCI) often results in severe impairments in sensory-motor functions, impacting upper-body mobility and overall independence. Recent advancements in assistive robotics present promising solutions, particularly in mobile robots designed for indoor environments. However, the development of effective control interfaces remains a critical challenge for individuals with cSCI. Body-Machine Interfaces (BoMIs) have emerged as potential solutions, leveraging residual body motion to enable tailored control of external devices while facilitating motor training. This study introduces a novel BoMI for the teleoperation of the TIAGo robot, a mobile manipulator designed for service in indoor environments. The BoMI, utilizing real-time video recordings and pose estimation algorithms, allows users to exert complete control over the robot's arm and mobile base through motor functions typically preserved, partially or entirely, after a cSCI - specifically, shoulder, eye, and nose movements. Preliminary testing on 20 unimpaired individuals in a simulated environment demonstrated the usability and effectiveness of the system. Users found the BoMI's operation intuitive and successfully teleoperated the robot's arm and base with commendable timings. These results underscore the BoMI's potential for enhancing mobility and quality of life for individuals with cSCI. Future studies will involve translating the system to clinical and home settings to assess its efficacy on individuals with cSCI.