Robotic arm operation training system for persons with disabled upper limbs

In this paper, a training system designed to familiarize persons who have severe upper limb disabilities with robotic arm operation is described. The system combines a robotic arm simulator with various control interfaces and provides training tasks to learn how to operate robotic arms. In our training system, four test subjects used a virtual system to practice how to execute peg insertion tasks, and thus improved their ability to operate actual robotic arms. The training results, along with the results of post-training experiments conducted using an actual robotic arm, demonstrate the effectiveness of the training system.