# Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms

arXiv: https://arxiv.org/abs/2401.07118 · HTML: https://mlsanity.com/paper/2401.07118/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 31 references that are in the map.
- First posted on arXiv 13 Jan 2024.

## Builds on (most cited first, 3 of 3)

- [A Quantitative Analysis of Activities of Daily Living: Insights into Improving Functional Independence with Assistive Robotics](https://mlsanity.com/paper/2104.03892/) (2021)
- [In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms](https://mlsanity.com/paper/2307.02933/) (2023)
- [AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics](https://mlsanity.com/paper/2310.15887/) (2023)

## Built on by (most cited first, 1 of 1)

- [Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility](https://mlsanity.com/paper/2406.06103/) (2024)

## Abstract (arXiv)

Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to manage multiple Degrees-of-Freedom (DoFs) for tasks like grasping and manipulating objects. Conventional input devices, typically limited to two DoFs, necessitate frequent and complex mode switches to control individual DoFs. Modern adaptive controls with feed-forward multi-modal feedback reduce the overall task completion time, number of mode switches, and cognitive load. Despite the variety of input devices available, their effectiveness in adaptive settings with assistive robotics has yet to be thoroughly assessed. This study explores three different input devices by integrating them into an established XR framework for assistive robotics, evaluating them and providing empirical insights through a preliminary study for future developments.