Abstract:<p>This is a submitted (IEEE RO-MAN 2023) draft of a paper on the testing of a hands-free human-robot interaction for navigating a ballbot in a virtual environment. In this study, able-bodied users and manual wheelchair users controlled a virtual ballbot using a hands-free (HF) lean-to-steer control concept that uses torso motions. A custom sensor system (i.e., Torso-dynamics Estimation System (TES)) was utilized to measure and convert the dynamics of the rider’s torso motions into commands to provide HF… Show more
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