Efficiency based modulation for wheelchair driving collaborative control

C. Urdiales, M. Fernandez-Carmona, J. M. Peula, 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 to assist wheelchair driving. Rather than swapping control from human to robot either by request or on a need basis, the system estimates how much help is needed in a reactive fashion and continuously produces an emergent motory command in combination with human input. To provide time stability and integration, instant commands are modulated by a factor depending on human efficiency in a shifting time window. Thus, the better the person drives, the more control he/she is awarded with. The approach has been tested at Fondazione Santa Lucia (FSL) in Rome with volunteers presenting different disabilities. All volunteers managed to finish a mildly complicated trajectory with door crossing and major turns and the proposed system increased efficiency in all cases.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages199-204
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Urdiales, C., Fernandez-Carmona, M., Peula, J. M., Annicchiaricco, R., Sandoval, F., & Caltagirone, C. (2010). Efficiency based modulation for wheelchair driving collaborative control. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 199-204). [5509606] https://doi.org/10.1109/ROBOT.2010.5509606