2024/03/01 by Amal Nanavati, Max Pascher, Nanavati, Amal +15
Business, Management and Accounting · Health Professions · Psychology · #Assistive Technology in Communication and Mobility #FOS: Computer and information sciences #Human-Computer Interaction (cs.HC) #Innovative Approaches in Technology and Social Development #Robotics (cs.RO) #Social Robot Interaction and HRI
paper · pdf · doi:10.48550/arxiv.2403.00489
openalex publication_date 2024/03/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.