2,146 research outputs found
Low complex sensor-based shared control for power wheelchair navigation
International audienceMotor or visual impairments may prevent a user from steering a wheelchair effectively in indoor environments. In such cases, joystick jerks arising from uncontrolled motions may lead to collisions with obstacles. We here propose a perceptive shared control system that progressively corrects the trajectory as a user manually drives the wheelchair, by means of a sensor-based shared control law capable of smoothly avoiding obstacles. This control law is based on a low complex optimization framework validated through simulations and extensive clinical trials. The provided model uses distance information. Therefore, for low-cost considerations, we use ultrasonic sensors to measure the distances around the wheelchair. The solution therefore provides an efficient assistive tool that does not alter the quality of experience perceived by the user, while ensuring his security in hazardous situations
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
Powered Wheelchair Platform for Assistive Technology Development
Literature shows that numerous wheelchair platforms, of various complexities, have been developed and evaluated for Assistive Technology purposes. However there has been little consideration to providing researchers with an embedded system which is fully compatible, and communicates seamlessly with current manufacturer's wheelchair systems. We present our powered wheelchair platform which allows researchers to mount various inertial and environment sensors, and run guidance and navigation algorithms which can modify the human desired joystick trajectory, so as to assist users with negotiating obstacles, and moving from room to room. We are also able to directly access other currently manufactured human input devices and integrate new and novel input devices into the powered wheelchair platform for clinical and research assessment
A short curriculum of the robotics and technology of computer lab
Our research Lab is directed by Prof. Anton Civit. It is an interdisciplinary group of 23
researchers that carry out their teaching and researching labor at the Escuela
PolitĂ©cnica Superior (Higher Polytechnic School) and the Escuela de IngenierĂa
Informática (Computer Engineering School). The main research fields are: a)
Industrial and mobile Robotics, b) Neuro-inspired processing using electronic spikes,
c) Embedded and real-time systems, d) Parallel and massive processing computer
architecture, d) Information Technologies for rehabilitation, handicapped and elder
people, e) Web accessibility and usability
In this paper, the Lab history is presented and its main publications and research
projects over the last few years are summarized.Nuestro grupo de investigación está liderado por el profesor Civit. Somos un grupo
multidisciplinar de 23 investigadores que realizan su labor docente e investigadora
en la Escuela PolitĂ©cnica Superior y en Escuela de IngenierĂa Informática. Las
principales lĂneas de investigaciones son: a) RobĂłtica industrial y mĂłvil. b)
Procesamiento neuro-inspirado basado en pulsos electrĂłnicos. c) Sistemas
empotrados y de tiempo real. d) Arquitecturas paralelas y de procesamiento masivo.
e) TecnologĂa de la informaciĂłn aplicada a la discapacidad, rehabilitaciĂłn y a las
personas mayores. f) Usabilidad y accesibilidad Web.
En este artĂculo se reseña la historia del grupo y se resumen las principales
publicaciones y proyectos que ha conseguido en los últimos años
Learning-Based Adaptation for Personalized Mobility Assistance
Mobility assistance is of key importance for people with disabilities to remain autonomous in their preferred environments. In severe cases, assistance can be provided by robotized wheelchairs that can perform complex maneuvers and/or correct the user’s commands. User’s acceptance is of key importance, as some users do not like their commands to be modified. This work presents a solution to improve acceptance. It consists of making the robot learn how the user drives so corrections will not be so noticeable to the user. Case Based Reasoning (CBR) is used to acquire a user’s driving model reactive level. Experiments with volunteers at Fondazione Santa Lucia (FSL) have proven that, indeed, this customized approach at assistance increases acceptance by the user.This work has been partially supported by the Spanish Ministerio de Educacion y Ciencia (MEC), Project TEC2011-29106-C02-01. The authors would like to thank Santa Lucia Hospedale and all volunteers for their kind cooperation and Sauer Medica for providing the power wheelchair
A Real-Time Wireless Sensor Network for Wheelchair Navigation
Today, the availability of inexpensive, low power
hardware including CMOS cameras and wireless devices make
it possible to deploy a wireless sensor network (WSN) with nodes
equipped with cameras for a variety of applications. In this
paper, we discuss the use of one of these WSNs as a navigation
aid for wheelchairs. Instead of having complicated wheelchairs
with lots of on-board sensors, we argue that a viable alternative
is to have simpler wheelchairs that are able to interact with an
intelligent environment so that the wheelchair bases its
navigation on its software intelligence, supported by the
information sent by external sensors. Many questions have to be
investigated, for instance how sensors should be deployed or
whether the wireless links would be able to meet our temporal
requirements. We describe some of the solutions we adopted,
particularly how to implement with Zigbee devices a polling
mechanism that allows us to guarantee a real-time secure
navigation.Ministerio de EducaciĂłn y Ciencia TIN2006-15617- C03-03Junta de AndalucĂa P06-TIC-229
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