IEEE Robotics & Automation Magazine - March 2022 - 22

Proactive Robot
Assistance
Affordance-Aware Augmented Reality User Interfaces
By Rodrigo Chacón Quesada and Yiannis Demiris
A
ssistive robots have the potential to increase
the autonomy and quality of life of people with
disabilities [1]. Their applications include
rehabilitation robots, smart wheelchairs,
companion robots, mobile manipulators, and
educational robots [2]. However, designing an intuitive user
interface (UI) for the control of assistive robots remains a
challenge, as most UIs leverage traditional control interfaces,
such as joysticks and keyboards, which might be challenging
and even impossible for some users. Augmented reality (AR)
UIs introduce more natural interactions between people and
assistive robots, potentially reaching a more diverse user base.
Digital Object Identifier 10.1109/MRA.2021.3136789
Date of current version: 13 January 2022
22 * IEEE ROBOTICS & AUTOMATION MAGAZINE * MARCH 2022
The combination of affordances, defined as relations
among objects and the actions that a robot can take [3], and
AR head-mounted display (HMD) UIs, is a design paradigm
that has enabled untrained users to gain fluent control
of single- and multirobot assistive platforms [4]-[6]. By
exploiting affordances, AR HMD UIs assist the user in perception
and planning tasks that are naturally involved in the
control of assistive robots and have demonstrated benefits in
reducing the cognitive requirements for this type of activity
[5], [6]. However, previous works in the domain of affordance-aware
AR HMD UIs provide only atomic actions as
options. This requires users to input a sequence of control
commands to make an assistive robot complete a task that
needs a grouping of atomic actions; such is the case in Figure
1. Although humans ultimately use low-level sensory
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IEEE Robotics & Automation Magazine - March 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2022

Contents
IEEE Robotics & Automation Magazine - March 2022 - Cover1
IEEE Robotics & Automation Magazine - March 2022 - Cover2
IEEE Robotics & Automation Magazine - March 2022 - Contents
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IEEE Robotics & Automation Magazine - March 2022 - Cover3
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