  A human-in-the-loop system is proposed to enable collaborative manipulation
tasks for person with physical disabilities. Studies show that the cognitive
burden of subject reduces with increased autonomy of assistive system. Our
framework obtains high-level intent from the user to specify manipulation
tasks. The system processes sensor input to interpret the user's environment.
Augmented reality glasses provide ego-centric visual feedback of the
interpretation and summarize robot affordances on a menu. A tongue drive system
serves as the input modality for triggering a robotic arm to execute the tasks.
Assistance experiments compare the system to Cartesian control and to
state-of-the-art approaches. Our system achieves competitive results with
faster completion time by simplifying manipulation tasks.
