Multiple Ways of Working with Users to Develop Physically Assistive Robots
<|reference_start|>Multiple Ways of Working with Users to Develop Physically Assistive Robots: Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this -- recruitment challenges, small sample sizes, and transportation logistics -- all influenced by systemic barriers that people with disabilities face. However, it is well-established that working with end-users results in technology that better addresses their needs and integrates with their lived circumstances. In this paper, we reflect on multiple approaches we have taken to working with people with motor impairments across the design, development, and evaluation of three PAR projects: (a) assistive feeding with a robot arm; (b) assistive teleoperation with a mobile manipulator; and (c) shared control with a robot arm. We discuss these approaches to working with users along three dimensions -- individual vs. community-level insight, logistic burden on end-users vs. researchers, and benefit to researchers vs. community -- and share recommendations for how other PAR researchers can incorporate users into their work.<|reference_end|>
@article{nanavati2024multiple,
    title={Multiple Ways of Working with Users to Develop Physically Assistive
  Robots},
    author={Amal Nanavati and Max Pascher and Vinitha Ranganeni and Ethan K.
  Gordon and Taylor Kessler Faulkner and Siddhartha S. Srinivasa and Maya
  Cakmak and Patr'icia Alves-Oliveira and Jens Gerken},
    journal={arXiv preprint arXiv:2403.00489},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.00489},
    primaryClass={cs.HC cs.RO}
}