A low-cost electric power wheelchair with manual and vision-based control systems

Romero, Benjamin; Camacho, Abraham; Varona, Jorge; Delgado, Carlos Falces; Velázquez, Ramiro

doi:10.1109/afrcon.2009.5308554

Cited by 11 publications

(6 citation statements)

References 8 publications

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“…1(b) muestra un ejemplo de silla de ruedas robótica basado en una silla de ruedas estándar plegable de aluminio disponible comercialmente. En particular, este prototipo desarrollado por el autor [6] permite los 3 modos de operación: eléctrico (mediante el joystick), autónomo (mediante la cámara de video) y estándar o de propulsión con las manos.…”

Section: Estructura Y Componentes De Sillas De Ruedas Eléctricas/unclassified

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Modeling and control techniques for electric powered wheelchairs: An overview

Velázquez

Gutierrez

2014

2014 IEEE Central America and Panama Convention (CONCAPAN XXXIV)

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This paper presents an overview of the dynamics and control of electric powered wheelchairs (EPWs). A simple and reliable mathematical model for a wheelchair is first introduced. This model takes into account not only the vehicle's kinematics but also its most popular power module: DC motors. The equations governing the dynamics of the EPW allow a better understanding of its motion in a 2D environment. They can be therefore used to simulate the accessibility of an EPW prototype to selected places or buildings, to improve the skills of wheelchair users, and to test different algorithms for control, guidance, and obstacle avoidance. Next, several sensor-based control approaches are discussed such as sonar sensing, machine vision, and voice recognition.

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Section: Estructura Y Componentes De Sillas De Ruedas Eléctricas/unclassified

“…(11) La ecuación (11) se puede descomponer en coordenadas (x, y) para determinar el siguiente movimiento de la SRE [6].…”

Section: B Control De Alto Nivelunclassified

Modeling and control techniques for electric powered wheelchairs: An overview

Velázquez

Gutierrez

2014

2014 IEEE Central America and Panama Convention (CONCAPAN XXXIV)

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“…In a previous work [28], a low-cost electric power wheelchair with manual and vision-based control systems was presented (Fig. 6).…”

Section: Museum Guidance For the Severely Motorimpaired Visitorsmentioning

confidence: 99%

MPISTE: A Mobile, Personalised, Interactive Story Telling Environment

Delgado-Mata

Velázquez

Pooley

et al. 2010

2010 IEEE Electronics, Robotics and Automotive Mechanics Conference

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This article describes an environment based on the user's physical location to tell interactive stories on mobile devices. First, the technology to physically locate the user is presented. Thence the project, called MPISTE, is put into context with related projects. The paper continues with the description of the project and its design as part of a project to develop an affective virtual guide. The work described herein consists of two parts. The first one is the client, which was developed (using J2ME) for Smart-phones. The client is connected via bluetooth to devices such as RFID and GPS for locating the user. The second one is the server (webserver), which receives requests from the former and these are answered via servlets, which relay petitions to a relational database. The communication protocol used to communicate the mobile phone with the server is EDGE/3GSM.Finally, an ongoing application is presented: museum guidance for the severely motor-impaired. MPISTE is mounted on a robotic wheelchair which guides the user among the museum's rooms while providing location-aware interactive audio stories.

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“…This is particularly true when the mobile platform moves on uneven terrain where the terrain's irregularities produce an overestimation of the distance measured by the odometer. Thus, odometry information must be complemented with different types of sensors such as ultrasonic sensors [14,21,22], light detection and ranging (LIDAR) [23][24][25][26][27], digital cameras [28][29][30][31], magnetic field sensors [32], global positioning system (GPS) [26,27] [33,34], and inertial measurement units (IMU) [26,34] to name a few. In general, a navigation system requires a set of sensors and a fusion algorithm that integrates the sensors' information to reliably estimate the mobile robot's pose.…”

Section: Introductionmentioning

confidence: 99%

Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments

Cárdenas

Quiroz

Hernandez

et al. 2021

Journal of Mechanisms and Robotics

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The kinematic design and navigation control of a new autonomous mobile manipulator for uneven terrain is presented in this work. An innovative suspension system's design is based on the kinematic synthesis of an adaptable, passive mechanism that compensates for irregularities in the terrain and facilitate the control of the robotic platform using cameras. The proposed mobile robot suspension consists of two pairs of bogies joined by a crank-slider mechanism that allows the robot to adapt to the terrain irregularities. The mobile robot is also equipped with a robotic manipulator, of which a synthesis, simulation, and experimental validation are presented while manipulation is accomplished during movements on rough terrain. The proposed mobile robot has been fabricated using additive manufacturing (AM) techniques. A linear camera space manipulation (LCSM) control system has been developed and implemented to conduct experimental tests along uneven terrain. This mobile manipulator has been designed to transverse uneven terrain so that the loading platform is kept horizontal while crossing obstacles up to one-third of the size of its wheels. This feature allows the onboard cameras to stay oriented towards the target. The vision-based paradigm that enables the control of this mobile manipulator allows to estimate the position and orientation of its end effector and update the trajectory of the manipulator along the path towards the target. The experiments show a final precision for engagement of a pallet within +/− 2.5 mm in position and +/− 2 degrees in orientation.

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A low-cost electric power wheelchair with manual and vision-based control systems

Cited by 11 publications

References 8 publications

Modeling and control techniques for electric powered wheelchairs: An overview

Modeling and control techniques for electric powered wheelchairs: An overview

MPISTE: A Mobile, Personalised, Interactive Story Telling Environment

Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments

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