Abstract
To operate a wheelchair, people with severe physical disabilities may require assistance, which can be provided by robotization. However, medical experts report that an excess of assistance may lead to loss of residual skills, so that it is important to provide just the right amount of assistance. This work proposes a collaborative control system based on weighting the robot's and the user's commands by their respective efficiency to reactively obtain an emergent controller. Thus, the better the person operates, the more control he/she gains. Tests with volunteers have proven, though, that some users may require extra assistance when they become stressed. Hence, we propose a controller that can change the amount of support taking into account supplementary biometric data. In this work, we use an off-the-shelf wearable pulse oximeter. Experiments have demonstrated that volunteers could use our wheelchair in a more efficient way due to the proposed biometric modulated collaborative control.
| Original language | English |
|---|---|
| Article number | 5545448 |
| Pages (from-to) | 398-408 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Neural Systems and Rehabilitation Engineering |
| Volume | 18 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Aug 2010 |
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Keywords
- Biometrically modulated control
- pulsioximeter
- shared control
- wheelchair navigation
ASJC Scopus subject areas
- Neuroscience(all)
- Computer Science Applications
- Biomedical Engineering
- Medicine(all)
Cite this
Biometrically modulated collaborative control for an assistive wheelchair. / Urdiales, Cristina; Fernandez-Espejo, Blanca; Annicchiaricco, Roberta; Sandoval, Francisco; Caltagirone, Carlo.
In: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 18, No. 4, 5545448, 08.2010, p. 398-408.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Biometrically modulated collaborative control for an assistive wheelchair
AU - Urdiales, Cristina
AU - Fernandez-Espejo, Blanca
AU - Annicchiaricco, Roberta
AU - Sandoval, Francisco
AU - Caltagirone, Carlo
PY - 2010/8
Y1 - 2010/8
N2 - To operate a wheelchair, people with severe physical disabilities may require assistance, which can be provided by robotization. However, medical experts report that an excess of assistance may lead to loss of residual skills, so that it is important to provide just the right amount of assistance. This work proposes a collaborative control system based on weighting the robot's and the user's commands by their respective efficiency to reactively obtain an emergent controller. Thus, the better the person operates, the more control he/she gains. Tests with volunteers have proven, though, that some users may require extra assistance when they become stressed. Hence, we propose a controller that can change the amount of support taking into account supplementary biometric data. In this work, we use an off-the-shelf wearable pulse oximeter. Experiments have demonstrated that volunteers could use our wheelchair in a more efficient way due to the proposed biometric modulated collaborative control.
AB - To operate a wheelchair, people with severe physical disabilities may require assistance, which can be provided by robotization. However, medical experts report that an excess of assistance may lead to loss of residual skills, so that it is important to provide just the right amount of assistance. This work proposes a collaborative control system based on weighting the robot's and the user's commands by their respective efficiency to reactively obtain an emergent controller. Thus, the better the person operates, the more control he/she gains. Tests with volunteers have proven, though, that some users may require extra assistance when they become stressed. Hence, we propose a controller that can change the amount of support taking into account supplementary biometric data. In this work, we use an off-the-shelf wearable pulse oximeter. Experiments have demonstrated that volunteers could use our wheelchair in a more efficient way due to the proposed biometric modulated collaborative control.
KW - Biometrically modulated control
KW - pulsioximeter
KW - shared control
KW - wheelchair navigation
UR - http://www.scopus.com/inward/record.url?scp=77955615305&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955615305&partnerID=8YFLogxK
U2 - 10.1109/TNSRE.2010.2056391
DO - 10.1109/TNSRE.2010.2056391
M3 - Article
C2 - 20699203
AN - SCOPUS:77955615305
VL - 18
SP - 398
EP - 408
JO - IEEE Transactions on Neural Systems and Rehabilitation Engineering
JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering
SN - 1534-4320
IS - 4
M1 - 5545448
ER -