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1 Prace Naukowe Politechniki Warszawskiej. Elektronika

1 2010

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A collaborative control scheme for haptics-based blind wheelchair driving

Urdiales C., Fernandez-Carmona M., Peula J.M., Annicchiarricco R., Sandoval F., Caltagirone C.

Prace Naukowe Politechniki Warszawskiej. Elektronika

2010

z. 175, t. 1

3-22

In this paper, a new approach to shared control for wheelchair driving assistance to visually challenged people is presented. Our system estimates how much help the user needs to solve a situation in a reactive fashion and combines his/her commands with assistant to continuously produce an emergent motor behavior. Thus, the better the person drives, the more control he/she is awarded with. Attempts to drive in unsafe directions or far from a set goal also reduce user contribution to wheelchair motion. Efficiency changes are perceived by people as speetl reduction. Users may sample different headings and acknowledge that they are on their way when they gain back speed.The approach has been tested at Casa Agevole in Fondazione Santa Lucia (FSL) with blindfolded volunteers. All volunteers managed to finish a mildly complicaled trajectory with door crossing and major turns in collaborative mode.