Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

A HoloLens Application to Aid People who are Visually Impaired in Navigation Tasks

Day-to-day activities such as navigation and reading can be particularly challenging for people with visual impairments. Reading text on signs may be especially difficult for people who are visually impaired because signs have variable color, contrast, and size. Indoors, signage may include office, classroom, restroom, and fire evacuation signs. Outdoors, they may include street signs, bus numbers, and store signs. Depending on the level of visual impairment, just identifying where signs exist can be a challenge. Using Microsoft\u27s HoloLens, an augmented reality device, I designed and implemented the TextSpotting application that helps those with low vision identify and read indoor signs so that they can navigate text-heavy environments. The application can provide both visual information and auditory information. In addition to developing the application, I conducted a user study to test its effectiveness. Participants were asked to find a room in an unfamiliar hallway. Those that used the TextSpotting application completed the task less quickly yet reported higher levels of ease, comfort, and confidence, indicating the application\u27s limitations and potential in providing an effective means to navigate unknown environments via signage

Coded Pulse Transmission and Correlation for Robust Ultrasound Ranging from a Long-Cane Platform

The objective of this research was to increase the independence and safety of the sight impaired by developing an enhanced travel aid in the form of a sensor embedded long-cane to reduce the risk of injury from walking into suspended or overhanging objects while providing the sight impaired community with a familiar and well accepted tool. Prior research at the Electromechanical Systems Laboratory had established a theoretical framework for ultrasound-based ranging and spatial obstacle localization from the moving reference frame of a long-cane. A prototype was implemented using analog threshold detection techniques. This research focused on a new approach. A coded pulse was transmitted and correlation techniques were used to identify echoes and determine time of flight. Compared to the prior effort this new approach was more sensitive, had greater noise immunity, and provide greater spatial resolution for obstacle detection. The first step in the coded pulse approach was to generate a transmit pulse with an embedded binary code that is highly distinguishable. A transmit pulse generated by phase modulating a 40 kHz carrier signal with a 13-bit Barker code word, with each bit consisting of 4 cycles of the 40 kHz carrier was used. Digitized representative echoes were used as reference vectors for correlation to account for the effect of the impulse responses of the transducers, the air, and the reflection, on the transmitted pulse. In a detection cycle, the coded pulse was transmitted, the A/D converters took 2600 samples at the 150 kHz sampling rate to capture any echoes from objects between 1 and 4 meters in front of the cane. The receiver data was cross-correlated with the stored echo image to find echoes in the received signal. The correlation peak positions from the upper receiver were then compared to the peak positions from the lower receiver and if they collaborated within the synthetic aperture, the range and height were calculated annunciation was made by a synthesized voice. The new obstacle detection system described above was designed and a prototype was constructed and embedded into the shaft of an 18 mm diameter body of a long cane

Bioinspired Electronic White Cane Implementation Based on a LIDAR, a Tri-Axial Accelerometer and a Tactile Belt

This work proposes the creation of a bioinspired electronic white cane for blind people using the whiskers principle for short-range navigation and exploration. Whiskers are coarse hairs of an animal's face that tells the animal that it has touched something using the nerves of the skin. In this work the raw data acquired from a low-size terrestrial LIDAR and a tri-axial accelerometer is converted into tactile information using several electromagnetic devices configured as a tactile belt. The LIDAR and the accelerometer are attached to the user’s forearm and connected with a wire to the control unit placed on the belt. Early validation experiments carried out in the laboratory are promising in terms of usability and description of the environment

Design and Evaluation of a Distributed, Shared Control, Navigation Assistance System for Power Wheelchairs

A significant number of individuals with disabilities are denied powered mobility because they lack the visual, motor, or cognitive skills required to operate a powered wheelchair safely. The Drive-Safe System (DSS) is an add-on, distributed, shared control navigation assistance system for powered wheelchairs, intended to provide safe and independent mobility to these individuals. The DSS is a human-machine system in which the user and machine share navigation control. The user is responsible for high-level control of the system, such as choosing the destination, path planning, and some navigation actions, while the DSS overrides unsafe maneuvers through autonomous collision avoidance, automatic wall following, and door crossing. This dissertation reports the design and development of the DSS, followed by results from rigorous engineering and clinical evaluations. The engineering tested technical aspects of the DSS such as sensor coverage, maximum safe speed, maximum detection distance, and power consumption. Clinical evaluations included testing the DSS with Orientation & Mobility (O&M) specialists, ambulatory and non-ambulatory visually impaired individuals, and able-bodied controls. We compared the performance of the DSS with conventional navigation aids such as canes that are commonly used in conjunction with wheelchairs based on measures such as time for task completion and number of collisions. Additionally, we collected data with the NASA-TLX to gain insight into users' subjective experience with the DSS. Results indicate that the DSS was able to provide a uniform and reliable sensor coverage field around the wheelchair and could successfully detect obstacles as small as 3 inches in height to overhanging obstacles at a height of 55 inches. The DSS significantly reduced the number of collisions compared to using a cane. Users rated the DSS favorably despite the fact they took longer to navigate the same obstacle course than they would using a cane. Visually impaired participants reported experiencing less physical demand, and had to exert less effort in order to achieve better performance when using the DSS, compared to using a cane. These findings suggest that the DSS can be a viable solution for powered mobility in populations with visual impairment

GIVE-ME: Gamification In Virtual Environments for Multimodal Evaluation - A Framework

In the last few decades, a variety of assistive technologies (AT) have been developed to improve the quality of life of visually impaired people. These include providing an independent means of travel and thus better access to education and places of work. There is, however, no metric for comparing and benchmarking these technologies, especially multimodal systems. In this dissertation, we propose GIVE-ME: Gamification In Virtual Environments for Multimodal Evaluation, a framework which allows for developers and consumers to assess their technologies in a functional and objective manner. This framework is based on three foundations: multimodality, gamification, and virtual reality. It facilitates fuller and more controlled data collection, rapid prototyping and testing of multimodal ATs, benchmarking heterogeneous ATs, and conversion of these evaluation tools into simulation or training tools. Our contributions include: (1) a unified evaluation framework: via developing an evaluative approach for multimodal visual ATs; (2) a sustainable evaluation: by employing virtual environments and gamification techniques to create engaging games for users, while collecting experimental data for analysis; (3) a novel psychophysics evaluation: enabling researchers to conduct psychophysics evaluation despite the experiment being a navigational task; and (4) a novel collaborative environment: enabling developers to rapid prototype and test their ATs with users in an early stakeholder involvement that fosters communication between developers and users. This dissertation first provides a background in assistive technologies and motivation for the framework. This is followed by detailed description of the GIVE-ME Framework, with particular attention to its user interfaces, foundations, and components. Then four applications are presented that describe how the framework is applied. Results and discussions are also presented for each application. Finally, both conclusions and a few directions for future work are presented in the last chapter

Proceedings of the 1st joint workshop on Smart Connected and Wearable Things 2016

These are the Proceedings of the 1st joint workshop on Smart Connected and Wearable Things (SCWT'2016, Co-located with IUI 2016). The SCWT workshop integrates the SmartObjects and IoWT workshops. It focusses on the advanced interactions with smart objects in the context of the Internet-of-Things (IoT), and on the increasing popularity of wearables as advanced means to facilitate such interactions

“AccessBIM” - A Model of Environmental Characteristics for Vision Impaired Indoor Navigation and Way Finding

The complexity of modern indoor environments has made navigation difficult for individuals with vision impairment. Hence, this thesis presents the AccessBIM framework, which is an optimized database that’s facilitates generation of a real-time floor plan with path determination. The AccessBIM framework has the potential to play an integral role in improving the independence and quality of life for people with vision impairment whilst also decreasing the cost to the community related to caretakers

Sensor-Based Assistive Devices for Visually-Impaired People: Current Status, Challenges, and Future Directions

The World Health Organization (WHO) reported that there are 285 million visually impaired people worldwide. Among these individuals, there are 39 million who are totally blind. There have been several systems designed to support visually-impaired people and to improve the quality of their lives. Unfortunately, most of these systems are limited in their capabilities. In this paper, we present a comparative survey of the wearable and portable assistive devices for visuallyimpaired people in order to show the progress in assistive technology for this group of people. Thus, the contribution of this literature survey is to discuss in detail the most significant devices that are presented in the literature to assist this population and highlight the improvements, advantages, disadvantages, and accuracy. Our aim is to address and present most of the issues of these systems to pave the way for other researchers to design devices that ensure safety and independent mobility to visually-impaired people.https://doi.org/10.3390/s1703056