Force reflective feedback control for intelligent wheelchairs

Luo, Ren C.; Hu, Chi-Yang; Chen, Tse Min; Lin, Meng‐Hsien

doi:10.1109/iros.1999.812797

Cited by 18 publications

(8 citation statements)

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“…Additional benefits our experiment template has to offer include richer data collection and a reduction of unaccounted-for learning effects. (Luo et al, 1999) This publication describes an experiment in which the authors designed a system that used artificial force reflection to try to help blind people control a powered wheelchair. They used a Microsoft Force Feedback Pro Joystick and used haptic force to prevent users from steering into walls.…”

Section: Custom Interface Combining a Steering Wheel With Twin Leversmentioning

confidence: 99%

“…The area of haptic feedback research is vast, even when restricted to work related to robots; a cursory search for the phrase "robot haptic feedback" in Google Scholar returns more than 37,500 results. Haptic feedback has been used to control robot arms (e.g., Park & Khatib, 2006), wheelchairs (e.g., Luo, Hu, Chen, & Lin, 1999;Christensen, 2011), rotary cranes (e.g., Takemoto, Yano, Miyoshi, & Terashima, 2004), surgical equipment (e.g., Meijden & Schijven, 2009;Okamura, 2004), and remote mobile platforms (e.g., Lee, Sukhatme, Kim, & Park, 2005;Mullins, Horan, Fielding, & Nahavandi, 2007;Rösch & Schilling, 2002). Research on haptic feedback has included mechanical hardware design (e.g., Cho, Jin, Lee, & Yao, 2010), software algorithms that simulate the feel of textures (e.g., Ruspini, Kolarov, & Khatib, 1997), the use of exoskeletons and virtual fixtures to remotely control robot arms (e.g., Rosenberg, 1995), semiautonomous shared control behaviors, such as artificial force reflection (e.g., Nguyen & Ryu, 2011;Lee et al, 2005), and implementing stable bilateral control systems inspired by physics concepts (e.g., Anderson & Spong, 1989;Niemeyer & Slotine, 1991;Satler, Avizzano, Frisoli, Tripicchio, & Bergamasco, 2009).…”

Section: Introductionmentioning

confidence: 99%

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Methods for Evaluating and Comparing the Use of Haptic Feedback in Human-Robot Interaction with Ground-Based Mobile Robots

Brooks

Tsui

Lunderville

et al. 2015

Journal of Human-Robot Interaction

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A significant amount of research has been conducted regarding the technical aspects of haptic feedback. However, the design of effective haptic feedback behaviors for controlling ground-based mobile robots is not yet well understood from a human-robot interaction perspective. Past research of haptic feedback behaviors for mobile robots has sometimes made use of control paradigms that do not appropriately map to teleoperation or supervision tasks. Furthermore, evaluation of haptic behaviors has not been systematic and often only demonstrates feasibility. As a result, comparing various techniques is difficult. In this article, we focus on how haptic control research could be improved in the domain of teleoperation and supervision of ground-based mobile robots through the introduction of a haptic evaluation toolkit.

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Section: Custom Interface Combining a Steering Wheel With Twin Leversmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Methods for Evaluating and Comparing the Use of Haptic Feedback in Human-Robot Interaction with Ground-Based Mobile Robots

Brooks

Tsui

Lunderville

et al. 2015

Journal of Human-Robot Interaction

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“…The force feedback has also been used for mobility assistance for persons with multiple disabilities, combining visual and motor impairments: the SPAM prototype (Smart Power Assistant Module) increases the resistance of the pushrims of a manual wheelchair according to the obstacles proximity [20]. In the same way, the powered wheelchair described in [14] returns information about the environment but, this time, through a force feedback joystick.…”

Section: Haptic In Rehabilitation Engineeringmentioning

confidence: 99%

Haptic Feedback Control of a Smart Wheelchair

Hadj-Abdelkader

Bourhis²,

Cherki

2012

Applied Bionics and Biomechanics

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The haptic feedback, which is natural in assistive devices intended for visually impaired persons, has been only recently explored for people with motor disability. The aim of this work is to study its potential, particularly for assistance in the driving of powered wheelchairs. After a review of the literature for the previous related work, we present the methodology and the implementation procedure of a haptic feedback control system on a prototype of a smart wheelchair. We will also describe the approaches utilized to determine the appropriate force feedback that will ensure a cooperative behaviour of the system, and we will detail the two haptic driving modes that were developed, namely the active and passive modes. Experiments on a real prototype were carried out to study the contribution of the method in powered wheelchair driving and to evaluate the interest of the force feedback on the control joystick of the wheelchair. They are discussed on the basis of performance measures.

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“…Force-feedback joysticks are used to improve device control of humans and provide assistance in performing tasks ( [8], [9], [10], [9], [11], [12], [13], [14]). The goal of this paper is different and novel, i.e., to train special needs infants, under 3 years of age, to drive independently and make purposeful turns with a vehicle using a force-feedback joystick.…”

Section: Introductionmentioning

confidence: 99%

Training special needs infants to drive mobile robots using force-feedback joystick

Agrawal

Chen

Galloway

2010

2010 IEEE International Conference on Robotics and Automation

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In typically developing infants, the onset of crawling and walking is associated with changes across development domains such as cognition and perception ([1], [2]). Currently, infants born with significant mobility impairments do not use powered wheelchairs until three years of age [3]. This potentially limits their development in the early growth years. The goal of this research is to train infants with impairments to safely and purposefully drive a mobile robot indoors while being seated on it. We anticipate that these impaired infants will benefit from early mobility in their early years, similar to their healthy peers. Our studies with 3-12 month old infants have shown that in about six weeks of training on the mobile robot, infants can learn to drive purposefully using conventional joysticks [4]. However, they are unable to directionally control the mobile robot [5]. This poses limits on how infants can drive independently within a home environment.This paper is the first to show novel results where special needs infants learn how to make sharp turns during driving, when trained over a 5-day period with a force-feedback joystick. The joystick simulates a virtual tunnel around an intended path with turns. During training, if the infant driver moves the mobile robot outside this tunnel centered around the desired path, the driver experiences a bias corrective force on the hand. This assist-as-needed paradigm may be suitable for infant driving training and has worked well in other studies on functional training of human movements [6].

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Force reflective feedback control for intelligent wheelchairs

Cited by 18 publications

References 10 publications

Methods for Evaluating and Comparing the Use of Haptic Feedback in Human-Robot Interaction with Ground-Based Mobile Robots

Methods for Evaluating and Comparing the Use of Haptic Feedback in Human-Robot Interaction with Ground-Based Mobile Robots

Haptic Feedback Control of a Smart Wheelchair

Training special needs infants to drive mobile robots using force-feedback joystick

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