title: Task-Oriented Performance Evaluation for Assistive Robotic Manipulators: A Pilot Study.
abstract: OBJECTIVE
  The objectives of this study were to evaluate the performance of commercially available assistive robotic manipulators (ARMs) user interfaces and to investigate the concurrent validity and sensitivity to change with task-oriented performance evaluation tools (TO-PETs) for ARMs.
  
  
  METHODS
  This was a nonblinded randomized controlled study with power-wheelchair users with upper-extremity impairments (N = 10). Participants were trained to use 2 ARMs with their respective original user interfaces (keypad and joystick) and evaluated the performance using TO-PET and the adapted Wolf Motor Function Test (WMFT-ARM). Task completion time, ISO 9241-9 throughput, trajectory parameters, NASA-TLX, and questionnaires were the main outcome measurements. Concurrent validity and sensitivity were evaluated.
  
  
  RESULTS
  Statistical differences were found in ISO 9241-9 throughput between the 2 user interfaces for the single motion tasks and WMFT-ARM. However, there was no statistical difference found on the self-reported perceived workload and ease of use. Moderate to high correlation was found between the TO-PET and WMFT-ARM (P < 0.001). The TO-PET demonstrated higher Cohen d (0.910-1.085) than the WMFT-ARM.
  
  
  CONCLUSIONS
  The findings of this study provide a preliminary comparison between 2 commercial ARMs with their different user interfaces among novice ARM users. Recommendations for training and evaluation were revealed.
authors.affiliation: From the Human Engineering Research Laboratories, Department of Veterans Affairs (C-SC, HW, MJH, DD, ARK, RAC); and Department of Rehabilitation Science and Technology (C-SC, HW, DD, ARK, RAC) and College of General Studies (MJH), University of Pittsburgh, Pittsburgh, Pennsylvania.
authors.forename: Cheng-Shiu
authors.initials: CS
authors.lastname: Chung
authors.forename: Hongwu
authors.initials: H
authors.lastname: Wang
authors.forename: Matthew J
authors.initials: MJ
authors.lastname: Hannan
authors.forename: Dan
authors.initials: D
authors.lastname: Ding
authors.forename: Annmarie R
authors.initials: AR
authors.lastname: Kelleher
authors.forename: Rory A
authors.initials: RA
authors.lastname: Cooper
mesh_terms: D000203:Activities of Daily Living; D000328:Adult; D000368:Aged; D004185:Disability Evaluation; D006233:Persons with Disabilities; D005260:Female; D006801:Humans; D008297:Male; D008875:Middle Aged; D010865:Pilot Projects; D011897:Random Allocation; D012371:Robotics; D012656:Self-Help Devices; D034941:Upper Extremity / Q000503:physiopathology; D014910:Wheelchairs; D055815:Young Adult