Towards a User-Wheelchair Shared Control Paradigm for Individuals with Severe Motor Impairments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F16%3APU121607" target="_blank" >RIV/00216305:26230/16:PU121607 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.fit.vut.cz/research/publication/11112/" target="_blank" >https://www.fit.vut.cz/research/publication/11112/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0005973302460253" target="_blank" >10.5220/0005973302460253</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Towards a User-Wheelchair Shared Control Paradigm for Individuals with Severe Motor Impairments

Popis výsledku v původním jazyce

This paper presents a work in progress study of a novel user-wheelchair shared control paradigm for individuals with severe motor impairments, which consists of an optimal distribution between several modes, from full user control up to autonomous driving one. To this end, a C400 Permobil wheelchair has been equipped with a control command communication interface and with a scanning laser and a RGB-D sensors to carry out the automation algorithms that are part of the robot operating system (ROS) framework. Moreover, sensor data fusion for map making based on the Bayesian method is applied to the Xtion Pro Live RGB-D camera and the Hokuyo laser sensor data readings. These latter are interpreted by a probabilistic heuristic model that abstracts the beam into a ray casting to an occupied grid cell. Preliminary pilot tests were performed in two different room shapes. The first one in a two room laboratory with a narrow doorway, and the second one in a corridor. The former experiment was dropped due to failure to success, whereas, the latter was a successful one. This has been tested with three different modalities; hand-joystick, tongue-joystick and autonomous modes respectively. The successful results of the second pilot-test have proven the feasibility of using a combination of autonomous and manual control of a powered wheelchair in order to continue development towards a shared-control paradigm.

Název v anglickém jazyce

Towards a User-Wheelchair Shared Control Paradigm for Individuals with Severe Motor Impairments

Popis výsledku anglicky

This paper presents a work in progress study of a novel user-wheelchair shared control paradigm for individuals with severe motor impairments, which consists of an optimal distribution between several modes, from full user control up to autonomous driving one. To this end, a C400 Permobil wheelchair has been equipped with a control command communication interface and with a scanning laser and a RGB-D sensors to carry out the automation algorithms that are part of the robot operating system (ROS) framework. Moreover, sensor data fusion for map making based on the Bayesian method is applied to the Xtion Pro Live RGB-D camera and the Hokuyo laser sensor data readings. These latter are interpreted by a probabilistic heuristic model that abstracts the beam into a ray casting to an occupied grid cell. Preliminary pilot tests were performed in two different room shapes. The first one in a two room laboratory with a narrow doorway, and the second one in a corridor. The former experiment was dropped due to failure to success, whereas, the latter was a successful one. This has been tested with three different modalities; hand-joystick, tongue-joystick and autonomous modes respectively. The successful results of the second pilot-test have proven the feasibility of using a combination of autonomous and manual control of a powered wheelchair in order to continue development towards a shared-control paradigm.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/LQ1602" target="_blank" >LQ1602: IT4Innovations excellence in science</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

ICINCO 2016 13th International Conference on Informatics in Control, Automation and Robotics

ISBN

978-989-758-198-4

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

246-253

Název nakladatele

Institute for Systems and Technologies of Information, Control and Communication

Místo vydání

Lisabon

Místo konání akce

Lisabon

Datum konání akce

29. 7. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000392601900026