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Development of smart wheelchair system for a user with severe motor impairment.

Tomari, Md. Razali and Kobayashia, Yoshinori and Kunoa, Yoshinori (2012) Development of smart wheelchair system for a user with severe motor impairment. In: International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012), 4-6 September 2012, Kuching, Sarawak.

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Abstract

Users with severe motor impairment may find it difficult to operate a wheelchair when they are in tight space (e.g., passing doorway) or when avoiding obstacles since they cannot command the wheelchair by means of a conventional joystick. Here we propose a framework that can assist users to overcome such circumstances using a hierarchical semi-autonomous control strategy. Initially multimodal user inputs based on momentary switch and yaw head angle are analyzed to decide a maneuvering mode and assign the direction of travel. Then, environmental information is perceived using the combination of a laser range finder and the Kinect sensor for determining safety map around wheelchair’s vicinity. Eventually, the user’s inputs are provided to the navigation planner along with the safety map to moderate motion that is collision free and the best for user preference. Experimental results demonstrate the feasibility of the proposed approach.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: smart wheelchair; multimodal interface; semi-autonomous control; hybrid sensor;
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Mrs Hasliza Hamdan
Date Deposited: 07 Nov 2012 04:20
Last Modified: 21 Jan 2015 07:55
URI: http://eprints.uthm.edu.my/id/eprint/3154
Statistic Details: View Download Statistic

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