More Web Proxy on the site http://driver.im/

research-article

Public Access

MetaArms: Body Remapping Using Feet-Controlled Artificial Arms

Authors:

MHD Yamen Saraiji,

Kouta Minamizawa,

Masahiko InamiAuthors Info & Claims

UIST '18: Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology

Pages 65 - 74

https://doi.org/10.1145/3242587.3242665

Published: 11 October 2018 Publication History

Abstract

We introduce MetaArms, wearable anthropomorphic robotic arms and hands with six degrees of freedom operated by the user's legs and feet. Our overall research goal is to re-imagine what our bodies can do with the aid of wearable robotics using a body-remapping approach. To this end, we present an initial exploratory case study. MetaArms' two robotic arms are controlled by the user's feet motion, and the robotic hands can grip objects according to the user's toes bending. Haptic feedback is also presented on the user's feet that correlate with the touched objects on the robotic hands, creating a closed-loop system. We present formal and informal evaluations of the system, the former using a 2D pointing task according to Fitts' Law. The overall throughput for 12 users of the system is reported as 1.01 bits/s (std 0.39). We also present informal feedback from over 230 users. We find that MetaArms demonstrate the feasibility of body-remapping approach in designing robotic limbs that may help us re-imagine what the human body could do.

Supplementary Material

suppl.mov (ufp1460.mp4)

Supplemental video

Download
29.08 MB

suppl.mov (ufp1460p.mp4)

Supplemental video

Download
14.31 MB

MP4 File (p65-saraiji.mp4)

Download
344.26 MB

References

[1]

K Carrie Armel and Vilayanur S Ramachandran. 2003. Projecting sensations to external objects: evidence from skin conductance response. Proceedings of the Royal Society of London B: Biological Sciences 270, 1523 (2003), 1499--1506.

[2]

Tomohisa Asai, Noriaki Kanayama, Shu Imaizumi, Shinichi Koyama, and Seiji Kaganoi. 2016. Development of embodied sense of self scale (ESSS): exploring everyday experiences induced by anomalous self-representation. Frontiers in psychology 7 (2016), 1005.

[3]

Anna Berti and Francesca Frassinetti. 2000. When far becomes near: Remapping of space by tool use. Journal of cognitive neuroscience 12, 3 (2000), 415--420.

Digital Library

[4]

Baldin Llorens Bonilla and H Harry Asada. 2014. A robot on the shoulder: Coordinated human-wearable robot control using coloured petri nets and partial least squares predictions. In Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE, 119--125.

[5]

Matthew Botvinick and Jonathan Cohen. 1998. Rubber hands 'feel' touch that eyes see. Nature 391, 6669 (1998), 756--756.

[6]

MC Carrozza, B Massa, S Micera, R Lazzarini, M Zecca, and P Dario. 2002. The development of a novel prosthetic hand-ongoing research and preliminary results. IEEE/Asme Transactions on Mechatronics 7, 2 (2002), 108--114.

[7]

Meng Chen, Bufu Huang, and Yangsheng Xu. 2008. Intelligent shoes for abnormal gait detection. In Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on. IEEE, 2019--2024.

[8]

Andy Clark. 2003. Natural-Born Cyborgs: Minds, Technologies, and the Future of Human Intelligence. (2003), 116.

Digital Library

[9]

R Fearing. 1986. Implementing a force strategy for object re-orientation. In Robotics and Automation. Proceedings. 1986 IEEE International Conference on, Vol. 3. IEEE, 96--102.

[10]

Paul M Fitts. 1954. The information capacity of the human motor system in controlling the amplitude of movement. Journal of experimental psychology 47, 6 (1954), 381.

[11]

Koumei Fukahori, Daisuke Sakamoto, and Takeo Igarashi. 2015. Exploring Subtle Foot Plantar-based Gestures with Sock-placed Pressure Sensors. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems. ACM, 3019--3028.

Digital Library

[12]

Fabian Göbel, Konstantin Klamka, Andreas Siegel, Stefan Vogt, Sophie Stellmach, and Raimund Dachselt. 2013. Gaze-supported foot interaction in zoomable information spaces. In CHI'13 Extended Abstracts on Human Factors in Computing Systems. ACM, 3059--3062.

Digital Library

[13]

Sandra G Hart. 2006. NASA-task load index (NASA-TLX); 20 years later. In Proceedings of the human factors and ergonomics society annual meeting, Vol. 50. Sage Publications Sage CA: Los Angeles, CA, 904--908.

[14]

Matej Hoffmann, Hugo Marques, Alejandro Arieta, Hidenobu Sumioka, Max Lungarella, and Rolf Pfeifer. 2010. Body schema in robotics: a review. IEEE Transactions on Autonomous Mental Development 2, 4 (2010), 304--324.

Digital Library

[15]

Nicholas P Holmes and Charles Spence. 2004. The body schema and multisensory representation (s) of peripersonal space. Cognitive processing 5, 2 (2004), 94--105.

[16]

Atsushi Iriki, Michio Tanaka, and Yoshiaki Iwamura. 1996. Coding of modified body schema during tool use by macaque postcentral neurones. Neuroreport 7, 14 (1996), 2325--2330.

[17]

Steve Jacobsen, E Iversen, D Knutti, R Johnson, and K Biggers. 1986. Design of the Utah/MIT dextrous hand. In Robotics and Automation. Proceedings. 1986 IEEE International Conference on, Vol. 3. IEEE, 1520--1532.

[18]

Eduardo Kac. 1997. Foundation and development of robotic art. Art Journal 56, 3 (1997), 60--67.

[19]

Luv Kohli, Mary C Whitton, and Frederick P Brooks. 2013. Redirected Touching: Training and adaptation in warped virtual spaces. In 3D User Interfaces (3DUI), 2013 IEEE Symposium on. IEEE, 79--86.

[20]

Peter J Kyberd and Paul H Chappell. 1994. The Southampton Hand: an intelligent myoelectric prosthesis. Journal of rehabilitation Research and Development 31, 4 (1994), 326.

[21]

Sang-won Leigh, Kush Parekh, Timothy Denton, William S Peebles, Magnus H Johnson, and Pattie Maes. 2017. Morphology Extension Kit: A Modular Robotic Platform for Customizable and Physically Capable Wearables. In Proceedings of the 2017 CHI Conference Extended Abstracts on Human Factors in Computing Systems. ACM, 397--400.

Digital Library

[22]

Sang-won Leigh, Harpreet Sareen, Hsin-Liu Cindy Kao, Xin Liu, and Pattie Maes. 2017b. Body-Borne Computers as Extensions of Self. Computers 6, 1 (2017), 12.

[23]

Matthew R Longo, Friederike Schüür, Marjolein PM Kammers, Manos Tsakiris, and Patrick Haggard. 2008. What is embodiment? A psychometric approach. Cognition 107, 3 (2008), 978--998.

[24]

Pedro Lopes, Alexandra Ion, and Patrick Baudisch. 2015. Impacto: Simulating physical impact by combining tactile stimulation with electrical muscle stimulation. In Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology. ACM, 11--19.

Digital Library

[25]

I Scott MacKenzie. 1992. Fitts' law as a research and design tool in human-computer interaction. Human-computer interaction 7, 1 (1992), 91--139.

Digital Library

[26]

Angelo Maravita and Atsushi Iriki. 2004. Tools for the body (schema). Trends in cognitive sciences 8, 2 (2004), 79--86.

[27]

Jessie E Menzel. 2010. The psychometric validation of the physical body experiences questionnaire. (2010).

[28]

Kouta Minamizawa, Souichiro Fukamachi, Hiroyuki Kajimoto, Naoki Kawakami, and Susumu Tachi. 2007. Gravity grabber: wearable haptic display to present virtual mass sensation. In ACM SIGGRAPH 2007 emerging technologies. ACM, 8.

Digital Library

[29]

Joseph A Paradiso, Kai-Yuh Hsiao, Ari Y Benbasat, and Zoe Teegarden. 2000. Design and implementation of expressive footwear. IBM systems journal 39, 3.4 (2000), 511--529.

Digital Library

[30]

Federico Parietti and H Harry Asada. 2014. Supernumerary robotic limbs for aircraft fuselage assembly: body stabilization and guidance by bracing. In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 1176--1183.

[31]

Federico Parietti, Kameron Chan, and H Harry Asada. 2014. Bracing the human body with supernumerary robotic limbs for physical assistance and load reduction. In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 141--148.

[32]

Domenico Prattichizzo, Monica Malvezzi, Irfan Hussain, and Gionata Salvietti. 2014. The sixth-finger: a modular extra-finger to enhance human hand capabilities. In The 23rd IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 993--998.

[33]

AF Rovers and HA Van Essen. 2005. FootIO-design and evaluation of a device to enable foot interaction over a computer network. In Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint. IEEE, 521--522.

Digital Library

[34]

Tomoya Sasaki, MHD Yamen Saraiji, Charith Lasantha Fernando, Kouta Minamizawa, and Masahiko Inami. MetaLimbs: Multiple Arms Interaction Metamorphism. In ACM SIGGRAPH 2017 Emerging Technologies (SIGGRAPH '17). ACM (New York, NY, USA).

Digital Library

[35]

Henning Schmidt, Stefan Hesse, Rolf Bernhardt, and Jörg Krüger. 2005. HapticWalker-a novel haptic foot device. ACM Transactions on Applied Perception (TAP) 2, 2 (2005), 166--180.

Digital Library

[36]

Adalberto L Simeone, Eduardo Velloso, Jason Alexander, and Hans Gellersen. 2014. Feet movement in desktop 3D interaction. In 3D User Interfaces (3DUI), 2014 IEEE Symposium on. IEEE, 71--74.

[37]

D Spampinato, Hannah J Block, and P Celnik. 2017. Cerebellar-M1 connectivity changes associated to motor learning are somatotopic specific. Journal of Neuroscience (2017), 2511--16.

[38]

Stelarc. 1980. Third Hand. (1980). http://stelarc.org/?catID=20265 (Last accessed July 2018).

[39]

David J Sturman and David Zeltzer. 1994. A survey of glove-based input. IEEE Computer graphics and Applications 1 (1994), 30--39.

Digital Library

[40]

Robert J Teather and Wolfgang Stuerzlinger. 2011. Pointing at 3D targets in a stereo head-tracked virtual environment. In 3D User Interfaces (3DUI), 2011 IEEE Symposium on. IEEE, 87--94.

Digital Library

[41]

Vighnesh Vatsal and Guy Hoffman. 2017. Wearing your arm on your sleeve: Studying usage contexts for a wearable robotic forearm. In Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on. IEEE, 974--980.

[42]

Eduardo Velloso, Dominik Schmidt, Jason Alexander, Hans Gellersen, and Andreas Bulling. 2015. The feet in human--computer interaction: a survey of foot-based interaction. ACM Computing Surveys (CSUR) 48, 2 (2015), 21.

Digital Library

[43]

Faye Wu and Harry Asada. 2014. Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers. In Proceedings of Robotics: Science and Systems. Berkeley, USA.

[44]

Faye Y Wu and H Harry Asada. 2015. "Hold-and-manipulate" with a single hand being assisted by wearable extra fingers. In Robotics and Automation (ICRA), 2015 IEEE International Conference on. IEEE, 6205--6212.

[45]

Weizhong Ye, Yangsheng Xu, and Ka Keung Lee. 2005. Shoe-Mouse: An integrated intelligent shoe. In Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on. IEEE, 1163--1167.

[46]

Thomas S Young, Robert J Teather, and I Scott MacKenzie. 2017. An arm-mounted inertial controller for 6DOF input: Design and evaluation. In 3D User Interfaces (3DUI), 2017 IEEE Symposium on. IEEE, 26--35.

[47]

Adam B Zoss, Hami Kazerooni, and Andrew Chu. 2006. Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Transactions On Mechatronics 11, 2 (2006), 128--138.

Cited By

Tan FGupta CRajendran DMaes PNanayakkara S(2025)Assistive Augmentation: Fundamentally Transforming Human AbilityInteractions10.1145/370265632:1(22-27)Online publication date: 7-Jan-2025
https://dl.acm.org/doi/10.1145/3702656
Zhang QLi YJing HSun KLi XZhao SLi LJu HWang ZZheng TZhao JZhu Y(2025)Sensorless Safe Interaction Method for Novel Tendon-Driven SuperLimb Based on Dynamic Parameter IdentificationIntelligent Robotics and Applications10.1007/978-981-96-0792-1_30(401-415)Online publication date: 25-Jan-2025
https://doi.org/10.1007/978-981-96-0792-1_30
Patibanda ROverdevest NSaini ALi ZAndres JKnibbe Jvan den Hoven EMueller F(2024)Exploring Shared Bodily Control: Designing Augmented Human Systems for Intra- and Inter-CorporealityProceedings of the Augmented Humans International Conference 202410.1145/3652920.3653037(318-323)Online publication date: 4-Apr-2024
https://dl.acm.org/doi/10.1145/3652920.3653037
Show More Cited By

Index Terms

MetaArms: Body Remapping Using Feet-Controlled Artificial Arms
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices

Recommendations

MetaArms: Body Remapping Using Feet-Controlled Artificial Arms
UIST '18 Adjunct: Adjunct Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology

We introduce MetaArms, wearable anthropomorphic robotic arms and hands with six degrees of freedom operated by the user's legs and feet. Our overall research goal is to re-imagine what our bodies can do with the aid of wearable robotics using a body-...
I Need a Third Arm! Eliciting Body-based Interactions with a Wearable Robotic Arm
CHI '23: Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

Wearable robotic arms (WRA) open up a unique interaction space that closely integrates the user’s body with an embodied robotic collaborator. This space affords diverse interaction styles, including body movement, hand gestures, or gaze. Yet, it is so-...
A mathematical model of optimal crutch weight of amputed human from ergonomics point of view

From clinical Symptomatology it appears that locomotion of Amputed human being is largely affected due to use of various crutch weights. These crutches are usually designed without any scientific base. In reality, the weight and height of the person ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image ACM Conferences

UIST '18: Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology

October 2018

1016 pages

ISBN:9781450359481

DOI:10.1145/3242587

General Chairs:
Patrick Baudisch
Hasso-Plattner Institute, Germany
,
Albrecht Schmidt
LMU, Germany
,
Program Chair:
Andy Wilson
Microsoft Research, USA

Copyright © 2018 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 11 October 2018

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

JSPS KAKENHI
Exploratory Research for Advanced Technology

Conference

UIST '18

Sponsor:

UIST '18: The 31st Annual ACM Symposium on User Interface Software and Technology

October 14, 2018

Berlin, Germany

Acceptance Rates

UIST '18 Paper Acceptance Rate 80 of 375 submissions, 21%;

Overall Acceptance Rate 561 of 2,567 submissions, 22%

Upcoming Conference

UIST '25

Sponsor:
sigchi
sigchi

The 38th Annual ACM Symposium on User Interface Software and Technology

September 28 - October 1, 2025

Busan , Republic of Korea

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

85
Total Citations
View Citations
2,147
Total Downloads

Downloads (Last 12 months)483
Downloads (Last 6 weeks)57

Reflects downloads up to 05 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

Tan FGupta CRajendran DMaes PNanayakkara S(2025)Assistive Augmentation: Fundamentally Transforming Human AbilityInteractions10.1145/370265632:1(22-27)Online publication date: 7-Jan-2025
https://dl.acm.org/doi/10.1145/3702656
Zhang QLi YJing HSun KLi XZhao SLi LJu HWang ZZheng TZhao JZhu Y(2025)Sensorless Safe Interaction Method for Novel Tendon-Driven SuperLimb Based on Dynamic Parameter IdentificationIntelligent Robotics and Applications10.1007/978-981-96-0792-1_30(401-415)Online publication date: 25-Jan-2025
https://doi.org/10.1007/978-981-96-0792-1_30
Patibanda ROverdevest NSaini ALi ZAndres JKnibbe Jvan den Hoven EMueller F(2024)Exploring Shared Bodily Control: Designing Augmented Human Systems for Intra- and Inter-CorporealityProceedings of the Augmented Humans International Conference 202410.1145/3652920.3653037(318-323)Online publication date: 4-Apr-2024
https://dl.acm.org/doi/10.1145/3652920.3653037
Takashita SArai KSaito HKitazaki MInami M(2024)Embodied Tentacle: Mapping Design to Control of Non-Analogous Body Parts with the Human BodyProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642340(1-19)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642340
Memmesheimer RLenz CSchwarz MSchreiber MBehnke S(2024)Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality2024 IEEE Conference on Telepresence10.1109/Telepresence63209.2024.10841525(57-60)Online publication date: 16-Nov-2024
https://doi.org/10.1109/Telepresence63209.2024.10841525
Wang ZFei HHuang YRouxel QXiao BLi ZBurdet E(2024)Learning to Assist Bimanual Teleoperation Using Interval Type-2 Polynomial Fuzzy InferenceIEEE Transactions on Cognitive and Developmental Systems10.1109/TCDS.2023.327273016:2(416-425)Online publication date: Apr-2024
https://doi.org/10.1109/TCDS.2023.3272730
Du YAmor HJin JWang QAjoudani A(2024)Learning-Based Multimodal Control for a Supernumerary Robotic System in Human-Robot Collaborative SortingIEEE Robotics and Automation Letters10.1109/LRA.2024.33672749:4(3435-3442)Online publication date: Apr-2024
https://doi.org/10.1109/LRA.2024.3367274
Zhang JZeng HWang JWang XSong A(2024)Human Movement Compensation Control for Supernumerary Limb in Overhead Support Task: A Non-Cooperative Game Theory Approach2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)10.1109/BioRob60516.2024.10719732(687-692)Online publication date: 1-Sep-2024
https://doi.org/10.1109/BioRob60516.2024.10719732
Ko YHo Kwon JKim JWon SHong D(2024)Wearable Extra Robotic Limb System With a Constant-Orientation Mechanism for the Handling of Construction MaterialIEEE Access10.1109/ACCESS.2024.348321312(153952-153964)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3483213
Yang YVadivelu AHepworth JZeng YPilgrim CKulic DAbdi E(2024)Experimental evaluation of accuracy and efficiency of two control strategies for a novel foot commanded robotic laparoscope holders with surgeonsScientific Reports10.1038/s41598-024-59338-314:1Online publication date: 23-Apr-2024
https://doi.org/10.1038/s41598-024-59338-3
Show More Cited By

View Options

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Figures

Tables

Media

View Table of Conten