3,636 research outputs found
A Low-Cost Tele-Presence Wheelchair System
This paper presents the architecture and implementation of a tele-presence
wheelchair system based on tele-presence robot, intelligent wheelchair, and
touch screen technologies. The tele-presence wheelchair system consists of a
commercial electric wheelchair, an add-on tele-presence interaction module, and
a touchable live video image based user interface (called TIUI). The
tele-presence interaction module is used to provide video-chatting for an
elderly or disabled person with the family members or caregivers, and also
captures the live video of an environment for tele-operation and
semi-autonomous navigation. The user interface developed in our lab allows an
operator to access the system anywhere and directly touch the live video image
of the wheelchair to push it as if he/she did it in the presence. This paper
also discusses the evaluation of the user experience
This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer
We address the problem of controlling the workspace of a 3-DoF mobile robot.
In a human-robot shared space, robots should navigate in a human-acceptable way
according to the users' demands. For this purpose, we employ virtual borders,
that are non-physical borders, to allow a user the restriction of the robot's
workspace. To this end, we propose an interaction method based on a laser
pointer to intuitively define virtual borders. This interaction method uses a
previously developed framework based on robot guidance to change the robot's
navigational behavior. Furthermore, we extend this framework to increase the
flexibility by considering different types of virtual borders, i.e. polygons
and curves separating an area. We evaluated our method with 15 non-expert users
concerning correctness, accuracy and teaching time. The experimental results
revealed a high accuracy and linear teaching time with respect to the border
length while correctly incorporating the borders into the robot's navigational
map. Finally, our user study showed that non-expert users can employ our
interaction method.Comment: Accepted at 2019 Third IEEE International Conference on Robotic
Computing (IRC), supplementary video: https://youtu.be/lKsGp8xtyI
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