Robot arm operating interface using a touch panel for gripping an object on the floor by designating the end effector

Some of the electric wheelchair users have limb dysfunction due to muscle weakness and paralysis. Recently, welfare robot arms are being developed for self-reliance supporting for them. In the conventional robot arm operating interface, it is necessary for users to confirm the position of the target objects before operation. However, when an object on the floor gets into the blind spot of the operator such as under an electric wheelchair or desk, it can't be found and will be difficult to pick up. In this study, we developed a touch panel interface that a user specifies the end point of the robot arm by drawing a line to the target object as a simple operation method for grasping the object on the floor. In the experiment to compare the operation by the proposed method with the operation by a game pad. And the result shows that the proposed method reduces operation time in the grasping operation of the object on the floor.