A Multi-Stage Shared Control Method for an Intelligent Mobility Assistant

McLachlan, S.; Arblaster, Jennifer A.; Liu, Dikai; Miro, J.V.; Chenoweth, L.

doi:10.1109/icorr.2005.1501134

Cited by 30 publications

(19 citation statements)

References 8 publications

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“…An extreme case, where humans only point the machine to the target and let it drive alone, would be equivalent to autonomous deliberate robot control and is commented afterwards. In the first case vehicles can be totally controlled by humans, but in some cases the robot makes some decisions to avoid imminent danger when communication interruption and delays are frequent (Kortenkamp et al 1997;Morris et al 2003) or when human control is not adequate (McLachlan et al 2005;Parikh et al 2004Parikh et al , 2005.…”

Section: Collaborative Controlmentioning

confidence: 99%

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

et al. 2010

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In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability.Robot wheelchairs, though, are not supposed to be completely in control because lack of human intervention may lead to loss of residual capabilities and frustration. Most of these systems rely on shared control, which typically consists of swapping control from human to robot when needed. However, this means that persons never deal with situations they find difficult. We propose a new shared control approach to allow constant cooperation between humans and robots, so that assistance may be adapted to the user's skills. Our proposal is based on the reactive navigation paradigm, where robot and human commands become different goals in a Potential Field. Our main novelty is that human and robot attractors are weighted by their respective local efficiencies at each time instant. This produces an emergent behavior that combines both inputs in an efficient, safe and smooth way and is dynamically adapted to the user's needs. The proposed control scheme has been successfully tested at hospital Fondazione Santa Lucia (FSL) in Rome with several volunteers presenting different disabilities.

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Section: Collaborative Controlmentioning

confidence: 99%

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

et al. 2010

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“…Another interesting case was in-patient 10 In both cases, efficiency is constrained by safeguarded mode so the wheelchair may not allow a user to come to harm and safety efficiency has few variations. On the contrary, global efficiency is significantly improved when these users have lesser control.…”

Section: Collaborative Emergent Command Modulationmentioning

confidence: 97%

“…In other cases, event triggers can activate several behaviours at once [9], so that the resulting action is an emergent behaviour, combination of elemental behaviours. On the other hand, safeguarded operation implementations [10] [11] [12] give full control to human operator. Besides, robot takes control in safeguarded operation only if a hazardous situation is detected.…”

Section: Introductionmentioning

confidence: 99%

Efficiency based collaborative control modulated by biometrics for wheelchair assisted navigation

Fernández-Carmona

Fernández-Espejo

Peula

et al. 2009

2009 IEEE International Conference on Rehabilitation Robotics

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This paper addresses a new collaborative control method for robotic wheelchairs. The original method was specifically designed for disabled people who are unable to drive a robotic wheelchair on their own. Its main novelty was that the wheelchair just provided the amount of help needed at each moment, to avoid loss of residual abilities. This wheelchair was tested by volunteering in-patients in Casa Agevole at Fondazione Santa Lucia (FSL) in Rome.However we found that in-patients with severe cognitive impairment were not able to complete complex trajectories despite wheelchair help. Thus, this works presents the improvement of these control techniques, more suitable for severe patients. We present a modified efficiency based collaborative control scheme based on modulation of assistance using biometric sensors, as well as preliminary results of this technique.

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“…When the user wants to turn, he exerts more/less force on one of the handles, depending on the side he wants to turn. Projects like [8,20,27,[30][31][32] implemented this type of control. Walkmate [33] also implemented this concept, but, in addition, he added a negative feedback loop on the SW's motion control.…”

Section: Manual Guidancementioning

confidence: 99%