Comparison of different powered-wheelchair control modes for individuals with severe motor impairments

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

Abstract

This paper presents the preliminary evaluation of different powered-wheelchair control modes for individuals with severe motor impediments. To this end, a C400 Permobil wheelchair has been updated with a control command communication interface and equipped with a scanning laser sensor to carry out the automation algorithms that are part of the robot operating system framework. A pilot test was performed with three different modalities; hand-joystick mode, tongue-joystick mode and autonomous mode. The results of the tests have proven the feasibility of using a power wheelchair either autonomously or controlled by users interchangeably in order to continue the development towards a better user/wheelchair shared-control paradigm.

Details

Authors
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Medical Engineering

Keywords

  • Tongue, Wheelchairs, Autonomous Wheelchair System, Shared Control, Navigation, Robot sensing systems, Control systems, Laser modes, Computers
Original languageEnglish
Title of host publicationProceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
PublisherIEEE--Institute of Electrical and Electronics Engineers Inc.
Pages353-359
Volume02
ISBN (Print)978-989-758-040-6
StatePublished - 2014
Peer-reviewedYes
EventInformatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on -

Publication series

Name
Volume02

Conference

ConferenceInformatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
Period0001/01/02 → …