Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile manipulator could enable an individual with motor impairments to independently perform self-care and household tasks, yet limited motor function can impede one's ability to interface with a robot. In this work, we present a unique inertial-based wearable assistive interface, embedded in a familiar head-worn garment, for individuals with severe motor impairments to teleoperate and perform physical tasks with a mobile manipulator. We evaluate this wearable interface with both able-bodied ($\mathrm{N}=16$) and individuals with motor impairments ($\mathrm{N}=2$) for performing ADLs and everyday household tasks. Our results show that the wearable interface enabled participants to complete physical tasks with low error rates, high perceived ease of use, and low workload measures. Overall, this inertial-based wearable serves as a new assistive interface option for control of mobile manipulators in the home.

Named entity recognition (NER)is a task of proper noun identification from natural language text and classification into various types such as location, person, and organization. Due to NER's applications in differentnatural language processing (NLP)tasks, numerous NER approaches and benchmark datasets have been proposed. However, developing NER techniques for low-resource languages is still limited due to the absence of substantial training datasets. Punjabi is a classic example of low resource language. Although various researchers have worked on Punjabi, they focused on the Gurmukhi script. To overcome the challenges in developing NER for the Shahmukhi script, we present an improved technique for Punjabi NER for the Shahmukhi script in this paper. We firstly extend the existing dataset by adding new NER classes by leveraging a novel Pool of Words data augmentation strategy. Our extended dataset has 11,31,509 tokens and 1,25,789 labeled entities with morenamed entities (NEs)than the older dataset. In the next step, we fine-tuned a transformer model known asBidirectional Encoder Representations from Transformers (BERT)for the NER task. We performed experiments using the proposed approach on a new and older dataset version, showing that our method achieved competitive results.