# Flexible Control Authority With a Robotic Arm: Facilitating Seamless Transitions Between User and Robot Control in Multi-Action Manipulation Tasks.

> **NIH VA IK1** · VETERANS HEALTH ADMINISTRATION · 2024 · —

## Abstract

This proposal discusses the development and evaluation of a collaborative Assistive Robotic Manipulator
(ARM) which allows the Veteran to preference control authority (user moving the arm versus robot software
moving the arm) at any point in a multi-action task: flexible control authority (FlexCA). Veterans with
tetraplegia, amyotrophic lateral sclerosis (ALS), and multiple sclerosis (MS) can readily access electric power
wheelchairs (EPWs) for their mobility needs but are still limited in performing manipulation tasks. Current
options for manipulation assistance include low tech specialized manipulation tools, modifications of the
environment, caregiver support, and robotic arms. ARMs for EPW users are capable of a variety of functions
but are unintuitive to control. Manually driving the control input for an ARM requires reasoning about many
different modes for moving the arm in three directions, rotating the arm’s wrist in three directions, and opening
and closing the gripper. The addition of more intelligent robot software assistance can ease control burdens
but should also adapt to a user’s changing abilities, preferences, and contexts. Previous work pre-assigns
control authority, which creates a rigid order of actions that causes unexpected behavior if the user decides to
interrupt the system. This career development award (CDA-1) addresses an unforeseen challenge, the ability
to allow the user to change their control authority preference by creating a seamless transition between manual
control and robot autonomous operation both within and between different functional task actions. This is
achieved through a development aim and an evaluation aim. The first aim is to develop the FlexCA assistive
dialogue control system for ARMs that tracks the user state within a kitchen task allowing the Veteran to initiate
control authority. The first goal of this aim is to infer the current state within a multi-action task regardless of
how the robot is controlled. This is formulated as a sequential stochastic state model that leverages
environment observations and user input to successfully monitor and estimate the state allowing the robotic
software to seamlessly pick up wherever the user leaves off. Input and feedback from the system is initiated
through the development of a voice-activated user interface. The system is evaluated in two phases. The first
phase involves a representative user that actively participates in the iterative design process, and a group of
benchmark users. The second phase evaluates the FlexCA system among Veterans with limited arm function
who use EPWs. Veterans are recruited to provide objective performance measures and subjective
assessments of usability and task workload. This work empowers Veterans with upper limb impairment to
perform realistic functional tasks with an ARM. By achieving our aims, algorithmic developments can be
generalized towards other assistive devices, and inform future models for more appropriately ma...

## Key facts

- **NIH application ID:** 10931339
- **Project number:** 5IK1RX004259-02
- **Recipient organization:** VETERANS HEALTH ADMINISTRATION
- **Principal Investigator:** Breelyn Styler
- **Activity code:** IK1 (R01, R21, SBIR, etc.)
- **Funding institute:** VA
- **Fiscal year:** 2024
- **Award amount:** —
- **Award type:** 5
- **Project period:** 2023-09-01 → 2025-08-31

## Primary source

NIH RePORTER: https://reporter.nih.gov/project-details/10931339

## Citation

> US National Institutes of Health, RePORTER application 10931339, Flexible Control Authority With a Robotic Arm: Facilitating Seamless Transitions Between User and Robot Control in Multi-Action Manipulation Tasks. (5IK1RX004259-02). Retrieved via AI Analytics 2026-08-17 from https://api.ai-analytics.org/grant/nih/10931339. Licensed CC0.

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