{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T16:31:35Z","timestamp":1753893095111,"version":"3.41.2"},"reference-count":32,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2024,10,22]],"date-time":"2024-10-22T00:00:00Z","timestamp":1729555200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>A robot hand-arm that can perform various tasks with the unaffected arm could ease the daily lives of patients with a single upper-limb dysfunction. A smooth interaction between robot and patient is desirable since their other arm functions normally. If the robot can move in response to the user\u2019s intentions and cooperate with the unaffected arm, even without detailed operation, it can effectively assist with daily tasks. This study aims to propose and develop a cybernic robot hand-arm with the following features: 1) input of user intention via bioelectrical signals from the paralyzed arm, the unaffected arm\u2019s motion, and voice; 2) autonomous control of support movements; 3) a control system that integrates voluntary and autonomous control by combining 1) and 2) to thus allow smooth work support in cooperation with the unaffected arm, reflecting intention as a part of the body; and 4) a learning function to provide work support across various tasks in daily use. We confirmed the feasibility and usefulness of the proposed system through a pilot study involving three patients. The system learned to support new tasks by working with the user through an operating function that does not require the involvement of the unaffected arm. The system divides the support actions into movement phases and learns the phase-shift conditions from the sensor information about the user\u2019s intention. After learning, the system autonomously performs learned support actions through voluntary phase shifts based on input about the user\u2019s intention via bioelectrical signals, the unaffected arm\u2019s motion, and by voice, enabling smooth collaborative movement with the unaffected arm. Experiments with patients demonstrated that the system could learn and provide smooth work support in cooperation with the unaffected arm to successfully complete tasks they find difficult. Additionally, the questionnaire subjectively confirmed that cooperative work according to the user\u2019s intention was achieved and that work time was within a feasible range for daily life. Furthermore, it was observed that participants who used bioelectrical signals from their paralyzed arm perceived the system as part of their body. We thus confirmed the feasibility and usefulness of various cooperative task supports using the proposed method.<\/jats:p>","DOI":"10.3389\/frobt.2024.1455582","type":"journal-article","created":{"date-parts":[[2024,10,22]],"date-time":"2024-10-22T10:21:46Z","timestamp":1729592506000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Cybernic robot hand-arm that realizes cooperative work as a new hand-arm for people with a single upper-limb dysfunction"],"prefix":"10.3389","volume":"11","author":[{"given":"Hiroaki","family":"Toyama","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hiroaki","family":"Kawamoto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoshiyuki","family":"Sankai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2024,10,22]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2204.01691","article-title":"Do as i can, not as i say: grounding language in robotic affordances","author":"Ahn","year":"2022","journal-title":"arXiv Prepr. arXiv:2204.01691"},{"key":"B2","doi-asserted-by":"crossref","first-page":"212","DOI":"10.1109\/ICORR.2007.4428429","article-title":"Maximizing manipulation capabilities for people with disabilities using a 9-DoF wheelchair-mounted robotic arm system","volume-title":"2007 IEEE 10th international conference on rehabilitation Robotics","author":"Alqasemi","year":"2007"},{"key":"B3","doi-asserted-by":"publisher","first-page":"e0226052","DOI":"10.1371\/journal.pone.0226052","article-title":"Controlling a robotic arm for functional tasks using a wireless head-joystick: a case study of a child with congenital absence of upper and lower limbs","volume":"15","author":"Aspelund","year":"2020","journal-title":"PLOS ONE"},{"key":"B4","doi-asserted-by":"publisher","first-page":"1027","DOI":"10.1080\/00016340802415648","article-title":"Obstetric brachial plexus palsy: a birth injury not explained by the known risk factors","volume":"87","author":"Backe","year":"2008","journal-title":"Acta Obstetricia Gynecol."},{"key":"B5","unstructured":"Etac Fix preparation board\n          \n          \n          2024"},{"key":"B6","doi-asserted-by":"crossref","first-page":"4399","DOI":"10.1109\/EMBC.2015.7319370","article-title":"Intuitive wireless control of a robotic arm for people living with an upper body disability","volume-title":"2015 37th annual international conference of the IEEE engineering in medicine and biology society (EMBC)","author":"Fall","year":"2015"},{"key":"B7","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1017\/S0263574701003897","article-title":"The Weston wheelchair mounted assistive robot-the design story","volume":"20","author":"Hillman","year":"2002","journal-title":"Robotica"},{"key":"B8","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/SAS51076.2021.9530189","article-title":"Single-channel EEG SSVEP-based BCI for robot arm control","volume-title":"2021 IEEE sensors applications symposium (SAS)","author":"Karunasena","year":"2021"},{"key":"B9","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1186\/s12938-015-0075-8","article-title":"A study on a robot arm driven by three-dimensional trajectories predicted from non-invasive neural signals","volume":"14","author":"Kim","year":"2015","journal-title":"Biomed. 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