AdaptiX - a transitional XR framework for development and evaluation of shared control applications in assistive robotics

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dc.contributor.authorPascher, Max
dc.contributor.authorGoldau, Felix Ferdinand
dc.contributor.authorKronhardt, Kirill
dc.contributor.authorFrese, Udo
dc.contributor.authorGerken, Jens
dc.date.accessioned2025-09-15T12:19:03Z
dc.date.available2025-09-15T12:19:03Z
dc.date.issued2024-06-24
dc.description.abstractWith the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their widespread success is limited by usability issues, specifically the disparity between user input and software control along the autonomy continuum. To address this, shared control concepts provide opportunities to combine the targeted increase of user autonomy with a certain level of computer assistance. This paper presents the free and open-source AdaptiX XR framework for developing and evaluating shared control applications in a high-resolution simulation environment. The initial framework consists of a simulated robotic arm with an example scenario in Virtual Reality (VR), multiple standard control interfaces, and a specialized recording/replay system. AdaptiX can easily be extended for specific research needs, allowing Human-Robot Interaction (HRI) researchers to rapidly design and test novel interaction methods, intervention strategies, and multi-modal feedback techniques, without requiring an actual physical robotic arm during the early phases of ideation, prototyping, and evaluation. Also, a Robot Operating System (ROS) integration enables the controlling of a real robotic arm in a PhysicalTwin approach without any simulation-reality gap. Here, we review the capabilities and limitations of AdaptiX in detail and present three bodies of research based on the framework. AdaptiX can be accessed at https://adaptix.robot-research.de.en
dc.identifier.urihttp://hdl.handle.net/2003/43957
dc.language.isoen
dc.relation.ispartofseriesProceedings of the ACM on human-computer interaction; 8
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectCCS Conceptsen
dc.subjectComputer systems organizationen
dc.subjectRobotic controlen
dc.subjectHuman-centered computingen
dc.subjectVisualization techniquesen
dc.subjectVirtual realityen
dc.subject.ddc360
dc.subject.ddc370
dc.subject.rswkRobotik
dc.subject.rswkVirtuelle Realität
dc.subject.rswkBehinderter Mensch
dc.subject.rswkUnterstützungstechnologie
dc.titleAdaptiX - a transitional XR framework for development and evaluation of shared control applications in assistive roboticsen
dc.typeText
dc.type.publicationtypeResearchArticle
dcterms.accessRightsopen access
eldorado.doi.registerfalse
eldorado.secondarypublicationtrue
eldorado.secondarypublication.primarycitationMax Pascher, Felix Ferdinand Goldau, Kirill Kronhardt, Udo Frese, and Jens Gerken. 2024. AdaptiX - A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics. Proc. ACM Hum.-Comput. Interact. 8, EICS, Article 244 (June 2024), 28 pages. https://doi.org/10.1145/3660243
eldorado.secondarypublication.primaryidentifierhttps://doi.org/10.1145/3660243

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