Name
Abstract | ||
|---|---|---|
We present a touchless shared-control approach merging wearable sensor-based control and autonomous safety control for wheelchair navigation in this study. To assist disabled people who have no or limited sensorimotor control with their fingers, a wearable armband sensor is used to control an electric wheelchair. Laser rangefinder based autonomous safety control of obstacle avoidance is also implemented through the learning from demonstration. The shared-control architecture for the wheelchair navigation is built up on the integration of the armband-based human control and autonomous safety control. A customized arbitration function was developed to make smooth transition of two control systems according to user’s preference and satisfaction. Our experiments demonstrate that the touchless shared-control can be applied for wheelchair navigation in the real world. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/UR55393.2022.9826259 | 2022 19th International Conference on Ubiquitous Robots (UR) |
Keywords | DocType | ISBN |
touchless shared-control,wheelchair navigation,shared-control approach,wearable sensor-based control,autonomous safety control,sensorimotor control,wearable armband sensor,electric wheelchair,shared-control architecture,armband-based human control,control systems | Conference | 978-1-6654-8254-7 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Graham Ching | 1 | 0 | 0.34 |
| Hamed Bozorgi | 2 | 0 | 0.34 |
| Trung Dung Ngo | 3 | 0 | 0.34 |