A Dialogue-Based Human-Robot Interaction Protocol for Wheelchair and Robotic Arm Integrated Control
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914308870373376 |
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| author | Liu, Guangping Hawkins, Nicholas Madden, Billy Sultan, Tipu Babaiasl, Madi |
| author_facet | Liu, Guangping Hawkins, Nicholas Madden, Billy Sultan, Tipu Babaiasl, Madi |
| contents | People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain unintuitive and struggle to capture complex user intent. We propose a natural, dialogue based human robot interaction protocol that simulates an intelligent agent capable of communicating with users to understand intent and execute assistive actions. In a pilot study, five participants completed five assistive tasks (cleaning, drinking, feeding, drawer opening, and door opening) through dialogue-based interaction with a wheelchair and robotic arm. As a baseline, participants were required to open a door using the manual control (a wheelchair joystick and a game controller for the arm) and complete a questionnaire to gather their feedback. By analyzing the post-study questionnaires, we found that most participants enjoyed the dialogue-based interaction and assistive robot autonomy. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2602_06243 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Dialogue-Based Human-Robot Interaction Protocol for Wheelchair and Robotic Arm Integrated Control Liu, Guangping Hawkins, Nicholas Madden, Billy Sultan, Tipu Babaiasl, Madi Robotics Human-Computer Interaction People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain unintuitive and struggle to capture complex user intent. We propose a natural, dialogue based human robot interaction protocol that simulates an intelligent agent capable of communicating with users to understand intent and execute assistive actions. In a pilot study, five participants completed five assistive tasks (cleaning, drinking, feeding, drawer opening, and door opening) through dialogue-based interaction with a wheelchair and robotic arm. As a baseline, participants were required to open a door using the manual control (a wheelchair joystick and a game controller for the arm) and complete a questionnaire to gather their feedback. By analyzing the post-study questionnaires, we found that most participants enjoyed the dialogue-based interaction and assistive robot autonomy. |
| title | A Dialogue-Based Human-Robot Interaction Protocol for Wheelchair and Robotic Arm Integrated Control |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2602.06243 |