Assistive Robots have to support the user in a wide range of tasks. An economical solution provides automation for a range of basic tasks and the inclusion of the disabled user to support the assistive robot if necessary for a correct completion of the tasks. The user interface plays a central role in assistive robotics. This paper proposes a new user interface based on an Attitude Heading Reference System (AHRS). The usability of this novel HMI was tested with healthy and disabled subjects by solving a control task within a virtual environment. The results imply that the new HMI is suitable for intuitive semi-autonomous robot control. However, various measures of adaption have to be taken into account to meet the needs and preferences of each individual user.
(PDF) Towards a User-Friendly AHRS-Based Human-Machine Interface for a Semi-Autonomous Robot. Available from: [accessed Dec 21 2018].