Design of a Haptic Guidance Solution for Assisted Power Wheelchair Navigation

Devigne, Louise; Pasteau, François; Babel, Marie; Narayanan, Vishnu K.; Guégan, Sylvain; Gallien, P.

doi:10.1109/smc.2018.00547

Cited by 8 publications

(11 citation statements)

References 18 publications

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“…In self-navigating smart wheelchairs, the intended destinations or directions are communicated to the robot through touch-monitors, microphones for speech recognition systems, or assisted joysticks [26,27]. For users with visual impairments, several research efforts focused on developing frameworks in which the feedback of the environment is provided to the users or the controller in terms of forces through haptic interfaces [28,29]. Some other recent approaches incorporated voice commands and vocal feedbacks to share control decisions with the user such as obstacle avoidance, safe approach to objects, navigation through a specific path, and learn from these decisions [30].…”

Section: Assistive Mobile Robotsmentioning

confidence: 99%

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Mohebbi

2020

Curr Robot Rep

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Purpose of Review Research in assistive and rehabilitation robotics is a growing, promising, and challenging field emerged due to various social and medical needs such as aging populations, neuromuscular, and musculoskeletal disorders. Such robots can be used in various day-today scenarios or to support motor functionality, training, and rehabilitation. This paper reflects on the human-robot interaction perspective in rehabilitation and assistive robotics and reports on current issues and developments in the field. Recent Findings The survey on the literature reveals that new efforts are put on utilizing machine learning approaches alongside novel developments in sensing technology to adapt the systems with user routines in terms of activities for assistive systems and exercises for rehabilitation devices to fit each user's need and maximize their effectiveness. Summary A review of recent research and development efforts on human-robot interaction in assistive and rehabilitation robotics is presented in this paper. First, different subdomains in assistive and rehabilitation robotic research are identified, and accordingly, a survey on the background and trends of such developments is provided.

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Section: Assistive Mobile Robotsmentioning

confidence: 99%

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Mohebbi

2020

Curr Robot Rep

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“…Compared to other types of existing feedback modalities, the main objective of our vestibular feedback is not to give additional information to the user or to help in the navigation [7]. The proposed feedback only provides a consistent and realistic wheelchair behavior in order to decrease Cybersickness, increase SoP and thus enhance the VR experience.…”

Section: Simulator and Vestibular Feedbackmentioning

confidence: 99%

Vestibular Feedback on a Virtual Reality Wheelchair Driving Simulator

Vailland¹,

Gaffary²,

Devigne³

et al. 2020

Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

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Autonomy and the ability to maintain social activities can be challenging for people with disabilities experiencing reduced mobility. In the case of disabilities that impact mobility, power wheelchairs can help such people retain or regain autonomy. Nonetheless, driving a power wheelchair is a complex task that requires a combination of cognitive, visual and visuo-spatial abilities. In practice, people need to pass prior ability tests and driving training before being prescribed a power wheelchair by their therapist. Still, conventional training in occupational therapy can be insufficient for some people with severe cognitive and/or visuo-spatial functions. As such, these people are often prevented from obtaining a power wheelchair prescription from their therapist due to safety concerns. In this context, driving simulators might be efficient and promising tools to provide alternative, adaptive, flexible, and safe training. In previous work, we proposed a Virtual Reality (VR) driving simulator integrating vestibular feedback to simulate wheelchair motion sensations. The performance and acceptability of a VR simulator rely on satisfying user Quality of Experience (QoE). Therefore, our simulator is designed to give the user a high Sense of Presence (SoP) and low Cybersickness. This paper presents a pilot study assessing the impact of the vestibular feedback provied on user QoE. Participants were asked to perform a driving task whilst in the simulator under two conditions: with and without vestibular feedback. User QoE is assessed through subjective questionnaires measuring user SoP and cybersickness. The results show that vestibular feedback activation increases SoP and decreases cybersickness. This study constitutes a mandatory step before clinical trials and, as such, only enrolled people without disabilities.

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“…Compared to other types of existing feedback modalities, the main objective of our vestibular feedback is not to give additional information to the user or to help in the navigation [7]. The proposed feedback only provides a consistent and realistic wheelchair behavior in order to decrease Cyber-sickness, increase SoP and thus enhance the VR experience.…”

Section: Simulator and Vestibular Feedbackmentioning

confidence: 99%

Power Wheelchair Virtual Reality Simulator with Vestibular Feedback

Vailland¹,

Gaffary²,

Devigne³

et al. 2020

MMC_C

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Autonomy and the ability to maintain social activities can be challenging for people with disabilities experiencing reduced mobility. In the case of disabilities that impact mobility, power wheelchairs can help such people retain or regain autonomy. Nonetheless, driving a power wheelchair is a complex task that requires a combination of cognitive, visual and visuo-spatial abilities. In practice, people need to pass prior ability tests and driving training before being prescribed a power wheelchair by their therapist. Still, conventional training in occupational therapy can be insufficient for some people with severe cognitive and/or visio-spatial functions. As such, these people are often prevented from obtaining a power wheelchair prescription from their therapist due to safety concerns. In this context, driving simulators might be efficient and promising tools to provide alternative, adaptive, flexible, and safe training. In previous work, we proposed a Virtual Reality (VR) driving simula-integrating vestibular feedback to simulate wheelchair motion sensations. The performance and acceptability of a VR simulator rely on satisfying user Quality of Experience (QoE). Therefore, our simulator is designed to give the user a high Sense of Presence (SoP) and low Cyber-sickness. This paper presents a pilot study assessing the impact of the vestibular feedback provided on user QoE. Participants were asked to perform a driving task whilst in the simulator under two conditions: with and without vestibular feedback. User QoE is assessed through subjective questionnaires measuring user SoP and cyber-sickness. The results show that vestibular feedback activation increases SoP and decreases cyber-sickness. This study constitutes a mandatory step before clinical trials and, as such, only enrolled people without disabilities.

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Design of a Haptic Guidance Solution for Assisted Power Wheelchair Navigation

Cited by 8 publications

References 18 publications

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Vestibular Feedback on a Virtual Reality Wheelchair Driving Simulator

Power Wheelchair Virtual Reality Simulator with Vestibular Feedback

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