Physical Fatigue Analysis of Assistive Robot Teleoperation via Wholebody Motion Mapping Robot teleoperation via motion mapping has been demonstrated to be an efficient and intuitive approach for controlling and teaching the wholebody motion coordination of humanoid robots. However, the physical fatigue in the usage of such robot teleoperation interfaces may prevent this approach to be widely used in large scale by diverse workforce populations. As a result, this paper conducts a user study to investigate the physical fatigue of teleoperators in the wholebody motion mapping teleoperation of a mobile humanoid assistive robot. Through a Vicon motion capture system, participants teleoperated the robot to perform general purpose assistive tasks that involve reachingtograsp, bimanual manipulation, locomanipulation and humanrobot interaction. We assess the physical fatigue based on surface electromyography (sEMG) measurement, and compare it between different tasks and muscles. Our analysis results indicate that: (1) Fatigue happens more in the tasks that involve more precise manipulation and steady posture maintenance; (2) Deltoids, Biceps and Trapezius are used more for such tasks and thus have more fatigue than others. These findings imply that automating the fatiguecausing task components may reduce the physical fatigue in motion mapping teleoperation.

Design and Evaluation of HumanFriendly HandHeld Gaming Interface for RobotAssisted Intuitive Telerehabilitation A testbed gaming interface operated through a handheld mobile device is designed and developed for robotassisted telerehabilitation. In the developed gaming interface, a patient needs to wear sensors (position and forcepressure sensors) at different body parts that measure kinematics and kinetics data during rehabilitation practices through some gamelike activities. The extent of rehabilitation progress is reflected through the magnitudes, patterns and expressions (such as the graphical expressions) of the kinematics and kinetics data. To do so, the kinematics and kinetics raw data are processed in realtime, expressed in different ways and displayed through the interface (e.g., mobile phone) held in the patientxe2x80x99s hand. The patient can monitor the rehabilitation progress through the graphical data expressions via the interface, interact with the display device and the rehabilitation results, and communicate the results to the healthcare providers and the patient community. To make the gaming interface humanfriendly, prior knowledge of human factors involved in the interface is considered when the interface is designed. The assessment method for each human factor is developed, and the interface is implemented and evaluated in a pilot study. The evaluation results show that the handheld gaming interface designed and developed through addressing the human factors is effective to satisfy the human factor requirements in the humandevice interaction, and to make the interaction more humanfriendly. The results can be used to optimize and benchmark the performance of the interface and of the rehabilitation system.