Although benefits of assistive technology (AT) to people with disabilities are widely apparent, barriers, primarily funding, still inhibit access to needed AT. All agencies receiving federal funding are required to show no discrimination with regard to age, race, disability, and gender. This case study of a state run agency providing funding for AT to enable independent living among people with disabilities involved analyzing spending data from 2003 2008 to determine who used the fund, what was purchased, and whether it was equitably distributed according to age, ethnicity, gender, and population density. Additionally variables predictive of amount spent per person were also sought. Results indicated the fund was equitably distributed according to ethnicity and gender, but not age and population density. Age, gender, population density, and device type were found to have main effects with an interaction between device type and primary cause of disability in predicting the amount spent per person. (210 pages)

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In this thesis, we explore methods to enable assistive robotic arms mounted on wheelchairs to assist disabled users with their daily activities. To effectively aid users, these robots must recognize a variety of tasks and provide intuitive control mechanisms. We focus on developing techniques that allow these assistive robots to learn diverse tasks, manipulate different types of objects, and simplify user control of these complex, high-dimensional systems. This thesis is structured around three key contributions. First, we introduce a method for assistive robots to autonomously learn complex, high-dimensional behaviors in a given environment and map them to a low-dimensional joystick interface without human demonstrations. Through controlled experiments and a user study, we show that this approach outperforms systems based on human-demonstrated actions, leading to faster task completion compared to industry-standard baselines. Second, we improve the efficiency of reinforcement learning for robotic manipulation tasks by introducing a waypoint-based algorithm. This approach frames task learning as a sequence of multi-armed bandit problems, where each bandit problem corresponds to a waypoint in the robot's trajectory. We introduce an approximate posterior sampling solution that builds the robot's motion one waypoint at a time. Our simulations and real-world experiments show that this approach achieves faster learning than state-of-the-art baselines. Finally, to address the challenge of manipulating a variety of objects, we introduce RIgid-SOft (RISO) grippers that combine soft-switchable adhesives with standard rigid grippers and propose a shared control framework that automates part of the grasping process. The RISO grippers allow users to manipulate objects using either rigid or soft grasps, depending on the task. Our user study reveals that, with the shared control framework and RISO grippers, users were able to grasp and manipulate a wide range of household objects effectively. The findings from this research emphasize the importance of integrating advanced learning algorithms and control strategies to improve the capabilities of assistive robots in helping users with their daily activities. By exploring different directions within the domain of assistive robotics, this thesis contributes to the development of methods that enhance the overall functionality of assistive robotic arms. / Master of Science / In this thesis, we explore ways to make robotic arms attached to wheelchairs more helpful for people with disabilities in their everyday lives. To be truly useful, these robots need to understand a variety of tasks and be easy for users to control. Our focus is on developing techniques that help these robots learn different tasks, handle different types of objects, and make controlling them simpler. The thesis is built around three main contributions. First, we introduce a way for robots to learn how to perform complex tasks on their own and then simplify controlling robots for those tasks so users can control the robot to perform different tasks using just a joystick. We show through experiments that this approach helps people complete tasks faster than systems that rely on human-taught actions. Second, we improve how robots learn to perform tasks using a more efficient learning method. This method breaks down tasks into smaller steps, and the robot learns how to move toward each step more quickly. Our tests show that this approach speeds up the learning process compared to other methods. Finally, we address the challenge of handling different types of objects by developing a new type of robotic gripper that combines soft and rigid gripping options. This gripper allows users to pick up and manipulate a wide variety of household objects more easily, thanks to a control system that helps automate part of the process. In our user study, people found it easier to use the new gripper to handle different items. Overall, this research highlights the importance of combining learning algorithms and userfriendly controls to make assistive robots better at helping people with their daily tasks. These contributions advance the development of robotic arms that can more effectively assist users.

As farmers continue to get older, they will likely face age-related disabilities that impede their ability to work and increase risk of suffering serious injuries. One of the major age- related diseases is arthritis, which currently accounts for about 40% of disability cases in agriculture nationwide. The effect of arthritis on farmers is profound because it reduces their physical strength, joint range of motion and is a source of joint pain, all culminating in the lack of ability to perform routine activities regularly and safely. One way to decrease the rate of injuries is by reducing the strength and joint loading required to perform these activities through the use of wearable robotics. As opposed to existing solutions that focus only on injury prevention, this thesis will present an active, knee-assist exoskeleton intent on providing 30% of the necessary joint rotation force to perform activities such as sit-to- stand actions and the ascent/descent of stairs and hills. The device will be a lightweight, unobtrusive cable-driven exoskeleton actuated by distally-worn electric motors. We hope that use of the exoskeleton will result in increased ranges of motion and overall reduction of stress on the wearer's body, which will minimize the effects of arthritis and ultimately improve safety and quality of life. / Master of Science / As farmers continue to get older, they will likely face age-related disabilities that impede their ability to work and increase risk of suffering serious injuries. One of the major age-related diseases is arthritis, which currently accounts for about 40% of disability cases in agriculture nationwide. The effect of arthritis on farmers is profound because it reduces their physical strength, joint range of motion and is a source of joint pain, all culminating in the lack of ability to perform routine activities regularly and safely. One way to decrease the rate of injuries is by reducing the strength and joint loading required to perform these activities through the use of wearable robotics. As opposed to existing solutions that focus only on injury prevention, this thesis will present an active, knee-assist exoskeleton intent on providing 30% of the necessary joint rotation force to perform activities such as sit-to-stand actions and the ascent/descent of stairs and hills. The device will be a lightweight, unobtrusive cable-driven exoskeleton actuated by distally-worn electric motors. We hope that use of the exoskeleton will result in increased ranges of motion and overall reduction of stress on the wearer’s body, which will minimize the effects of arthritis and ultimately improve safety and quality of life.

Visually impaired (VI) individuals struggle with grocery shopping and have to rely on either friends, family or grocery store associates for shopping. ShopMobile 2 is a proof-of-concept system that allows VI shoppers to shop independently in a grocery store using only their smartphone. Unlike other assistive shopping systems that use dedicated hardware, this system is a software only solution that relies on fast computer vision algorithms. It consists of three modules - an eyes free barcode scanner, an optical character recognition (OCR) module, and a tele-assistance module. The eyes-free barcode scanner allows VI shoppers to locate and retrieve products by scanning barcodes on shelves and on products. The OCR module allows shoppers to read nutrition facts on products and the tele-assistance module allows them to obtain help from sighted individuals at remote locations. This dissertation discusses, provides implementations of, and presents laboratory and real-world experiments related to all three modules.

Visually impaired (VI) individuals struggle with grocery shopping and have to rely on either friends, family or grocery store associates for shopping. ShopMobile 2 is a proof-of-concept system that allows VI shoppers to shop independently in a grocery store using only their smartphone. Unlike other assistive shopping systems that use dedicated hardware, this system is a software only solution that relies on fast computer vision algorithms. It consists of three modules - an eyes free barcode scanner, an optical character recognition (OCR) module, and a tele-assistance module. The eyes-free barcode scanner allows VI shoppers to locate and retrieve products by scanning barcodes on shelves and on products. The OCR module allows shoppers to read nutrition facts on products and the tele-assistance module allows them to obtain help from sighted individuals at remote locations. This dissertation discusses, provides implementations of, and presents laboratory and real-world experiments related to all three modules.

For persons with disabilities, their impairments lead to many inconveniences in their daily life. Luckily, assistive technology devices can help compensate functional limitations and enable them to participate in the activities of daily life. In 2010, there were 126,693 disabilities in the Kaohsiung area. Subsidies provided by Kaohsiung city government and Kaohsiung county government reach respectively NT$39,145,000 and NT$ 25,489,000 in 2010. Nevertheless, such great amount of money invested does not work as it has been expected. There appear to remain a number of barriers. One such example would be that persons with disabilities lack the knowledge about assistive technology, so they do not know where to ask for help in the first place. On the other hand, lack of consideration for the needs of a person with disability result in them getting inappropriate assistive technology devices. These problems deserve the attention of government and related associations. This research aims to solve the problems between the supply and demand of assistive technology devices or services. It reviews and studies papers concerning the same issue in an attempt to create a new service platform. This platform is created according to information and suggestion gathered from experts of this field and voice from users of assistive devices. Their voices and assessments provide valuable direction to shape this new platform. This research assesses the possibility of this new assistive technology service platform from several aspects, including its political, legislative, supplying, and demanding dimensions. The purpose of this study is to reorganize diverse resources to provide a more convenient information-gathering method and to offer a complete service for disabilities people.

The purpose of this research was to develop a theoretical understanding of the influences on participation for individuals with spinal cord injury (SCI) from a self-perceived perspective, with particular focus on the role of assistive technology (AT) in self-perceived participation. The theoretical underpinning, symbolic interactionism, was used to gain an understanding of the ways that adults with SCI ascribe meaning to the interaction between themselves and their unique environments in a process of participation. A grounded theory study of 19 adults with SCI was conducted. Participants engaged in individual in-depth interviews, used photovoice as a framework for taking photographs of aspects of their environment that promoted and restricted participation, and engaged in focus groups. The constructed grounded theory is summarized as follows: Negotiating the Body-environment Interface is a continuous process for those living with a SCI. Despite the relative stability of their changed body, they Live in a Changed World, one perceived differently after SCI. Four sets of strategies are used by individuals to interact within their unique environments: creating an accessible proximal environment; using AT and adaptations; advocating and educating; and gaining information and knowledge. Strategies were selected to engage in a Process of Participation, a process that consisted of a sense of inclusion, autonomy, accomplishment, and reciprocity. Intervening conditions were the physical (architectural, natural), socio-cultural (social supports, societal attitudes), and institutional (services, policies) environmental aspects that served as barriers or facilitators to the process of participation. The study has added to the growing body of literature on self-perceived participation that forefronts the sense of connectivity and engagement people feel within their environment. The findings highlighted how AT holds unique meaning, and how decisions around use of technology for participation is influenced by personal factors, and physical, socio-cultural, and institutional environments. A new definition of AT was constructed that acknowledges the environmental influences and importance of self-perceived participation as an outcome of AT use. This research highlights the instrumental role of the environment in supporting self-perceived participation of adults with SCI. Further research on developing ways to create inclusive and supportive environments for assistive technology users is warranted.

The purpose of this research was to develop a theoretical understanding of the influences on participation for individuals with spinal cord injury (SCI) from a self-perceived perspective, with particular focus on the role of assistive technology (AT) in self-perceived participation. The theoretical underpinning, symbolic interactionism, was used to gain an understanding of the ways that adults with SCI ascribe meaning to the interaction between themselves and their unique environments in a process of participation. A grounded theory study of 19 adults with SCI was conducted. Participants engaged in individual in-depth interviews, used photovoice as a framework for taking photographs of aspects of their environment that promoted and restricted participation, and engaged in focus groups. The constructed grounded theory is summarized as follows: Negotiating the Body-environment Interface is a continuous process for those living with a SCI. Despite the relative stability of their changed body, they Live in a Changed World, one perceived differently after SCI. Four sets of strategies are used by individuals to interact within their unique environments: creating an accessible proximal environment; using AT and adaptations; advocating and educating; and gaining information and knowledge. Strategies were selected to engage in a Process of Participation, a process that consisted of a sense of inclusion, autonomy, accomplishment, and reciprocity. Intervening conditions were the physical (architectural, natural), socio-cultural (social supports, societal attitudes), and institutional (services, policies) environmental aspects that served as barriers or facilitators to the process of participation. The study has added to the growing body of literature on self-perceived participation that forefronts the sense of connectivity and engagement people feel within their environment. The findings highlighted how AT holds unique meaning, and how decisions around use of technology for participation is influenced by personal factors, and physical, socio-cultural, and institutional environments. A new definition of AT was constructed that acknowledges the environmental influences and importance of self-perceived participation as an outcome of AT use. This research highlights the instrumental role of the environment in supporting self-perceived participation of adults with SCI. Further research on developing ways to create inclusive and supportive environments for assistive technology users is warranted.

The use of technology has become fairly integrated into our personal, educational, and professional lives. Students with disabilities attending postsecondary institutions may require the use of Assistive Technology (AT) for their educational pursuits and access to other technology. This study quantified students' general knowledge of AT and specific knowledge of Dragon NaturallySpeaking software. In addition, this study examined the relationship between disability support services received and current knowledge of AT among students with disabilities in a postsecondary environment. Participants were recruited from those who received disability support services at a midsize university in Illinois. An online survey was administered to 41 participants that included the Prior Knowledge of Assistive Technology Instrument (PKATI). Results indicated that participants' knowledge was influenced by three factors; prior training in AT within a postsecondary institution, access and availability to AT within postsecondary environments, and personal confidence in understanding of AT.