Rule-based system to assist a powered wheelchair driver

This paper presents some results from investigating wheelchair driver learning when using different amounts of sensor support. A quantitative and qualitative empirical evaluation is made about the effect of using intelligent sensor support while a participant learns to operate a wheelchair. Reliance on teaching processes was recorded while a variety of levels of support were provided. Results are presented.

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“…Work is now investigating mixing other AI tools [8]- [17] to use specific tools where they can have most effect.…”

Section: Discussionmentioning

confidence: 99%

Results from investigating powered wheelchair users learning to drive with varying levels of sensor support

Sanders

Sanders²,

Gegov

et al. 2017

2017 Intelligent Systems Conference (IntelliSys)

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“…Work is moving on to consider improving the movement of disabled powered wheelchair drivers using simple rules derived from testing models of movement. [37][38][39]…”

Section: Discussionmentioning

confidence: 99%

Improving the picking-and-placing of a ball using simple rules derived from reduced models of arm links and joints

Sanders

2017

International Journal of Sports Science & Coaching

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This paper presents simple rules to improve the efficiency of picking-and-placing a ball. A simple model of an upper limb was created to examine the gross motions associated with picking-andplacing a ball in sports such as rugby and American football. The research used the Lagrange formulation for a simple representation of the major links and joints of the upper limb. From the simple models, two simple rules were extracted to improve the efficiency of picking-and-placing the ball. Results from testing the use of the rules with both a simple mechanical arm and with human players are presented. Analysis and testing suggested that applying the rules could increase the speed of the pickand-place movement by up to 17.5%.

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“…The train is to be equipped with a Langner Scanning Collision Avoidance Device (langner-SCAD) [1] at the front of the train locomotive to detect local obstacles and stop the train. For further reading, obstacle avoidance for powered wheelchairs is described in [29]- [32].…”

Section: The Vehicle and Two Carriagesmentioning

confidence: 99%

Non-Model-Based Control of a Wheeled Vehicle Pulling Two Trailers to Provide Early Powered Mobility and Driving Experiences

Sanders

2018

IEEE Trans. Neural Syst. Rehabil. Eng.

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Non-model-based control of a wheeled vehicle pulling two trailers is proposed. It is a fun train for disabled children consisting of a locomotive and two carriages. The fun train has afforded opportunities for both disabled and able bodied young people to share an activity and has provided early driving experiences for disabled children; it has introduced them to assistive and powered mobility. The train is a nonlinear system and subject to nonholonomic kinematic constraints, so that position and state depend on the path taken to get there. The train is described, and then, a robust control algorithm using proportional-derivative filtered errors is proposed to control the locomotive. The controller was not dependent on an accurate model of the train, because the mass of the vehicle and two carriages changed depending on the number, size, and shape of children and wheelchair seats on the train. The controller was robust and stable in uncertainty. Results are presented to show the effectiveness of the approach, and the suggested control algorithm is shown to be acceptable without knowing the exact plant dynamics.

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Rule-based system to assist a powered wheelchair driver

Cited by 6 publications

References 42 publications

Results from investigating powered wheelchair users learning to drive with varying levels of sensor support

Results from investigating powered wheelchair users learning to drive with varying levels of sensor support

Improving the picking-and-placing of a ball using simple rules derived from reduced models of arm links and joints

Non-Model-Based Control of a Wheeled Vehicle Pulling Two Trailers to Provide Early Powered Mobility and Driving Experiences

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