Shared Control Strategies for Human-Machine Interface in an Intelligent Wheelchair

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013, pp. 3638 - 3641
Issue Date:
2013-01
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In this paper, we introduce a shared control mechanism for an intelligent wheelchair designed to support people with mobility impairments, who also have visual, upper limb, or cognitive impairment. The method is designed to allow users to be involved in the movement as much as possible, while still providing the assistance needed to achieve the goal safely. The data collected through URG-04LX and user interface are analyzed to determine whether the desired action is safe to perform. The system then decides to provide assistance or to allow the user input to control the wheelchair. The experiment results indicate that the method performs effectively with high satisfaction.
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