Documenti accessibili
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Informazioni generali |
| Autore |
Tomari, Razali; Kobayashi, Yoshinori; Kuno, Yoshinori |
| Pubblicato |
InTech Open Access Publisher, 2013
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| ISBN |
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| Abstract |
A significant number of individuals with severe
motor impairments are unable to control their wheelchair
using a standard joystick. Even when they can facilitate
the control input, navigation in a confined space or
crowded environments is still a great challenge. Here we
propose a wheelchair framework that enables the user to
issue the command via a multi‐input hands free interface
(HFI), which subsequently assists him/her to overcome
difficult circumstances using a multimodal control
strategy. Initially the HFI inputs are analysed to infer the
desired control mode and the user command. Then
environmental information is perceived using a
combination of laser and Kinect sensors for determining
all possible obstacle locations and outputting a safety
map around the wheelchair’s vicinity. Eventually, the
user’s command is validated with the safety map to
moderate the final motion, which is collision free and the
best for the user’s preference. The proposed method can
reduce the burden of severe impairment users when
controlling wheelchairs by continuously monitoring the
surroundings and can make them move easily according
to the users’ intention. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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