Development of a Touchless Control System for a Clinical Robot with Multimodal User Interface

Abstract

This article introduces the development of a multi-modal user interface for touchless control of a clinical robot. This system seamlessly integrates distinct control modalities: voice commands, an accelerometer-embedded gauntlet, and a virtual reality (VR) headset to display real-time robot video and system alerts. By synergizing these control approaches, a more versatile and intuitive means of commanding the robot has been established. This assertion finds support through comprehensive assessments conducted with both seasoned professionals and novices in the domain of clinical robotics, all within a controlled experimental setting. The diverse array of test results unequivocally demonstrate the system’s efficacy. They substantiate the system’s ability to proficiently govern a robotic arm in the clinical environment. The user interface’s usability is measured at an impressive 90.2 on the system usability scale, affirming its suitability for robotic control. Notably, the interface not only offers comfort but also intuitiveness for operators of varying levels of expertise.