Adaptive collaborative assistance for wheelchair driving via CBR learning

C. Urdiales, J. M. Peula, M. Fernandez-Carmona, R. Annicchiaricco, F. Sandoval, C. Caltagirone

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work presents a new approach to shared control driving a robotic wheelchair for persons with disabilities. The proposal is based on weighting the robot and human commands by their respective efficiencies to obtain an emergent command in a reactive way. It was tested with a robotized Meyra wheelchair at Fondazione Santa Lucia (FSL) in Rome with volunteers presenting different disabilities and we observed that the system seemed to help less persons with better cognitive skills. This seemed to be due to disagreement between the users and the machine when they realized that they were being helped. In order to improve that, we added a Case Based Reasoning module to absorb how the user drives to replace the robot navigation algorithm. New tests with the adaptive system showed an increase in efficiency in all cases.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages731-736
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan
Duration: Jun 23 2009Jun 26 2009

Other

Other2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
CountryJapan
CityKyoto
Period6/23/096/26/09

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ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Urdiales, C., Peula, J. M., Fernandez-Carmona, M., Annicchiaricco, R., Sandoval, F., & Caltagirone, C. (2009). Adaptive collaborative assistance for wheelchair driving via CBR learning. In 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 (pp. 731-736). [5209575] https://doi.org/10.1109/ICORR.2009.5209575