Comparison of Different Powered-wheelchair Control Modes for Individuals with Severe Motor Impairments

Czech title

Srovnání různých módů řízení motorizovaného invalidního vozíku pro osoby s těžkými motorickými poruchami

Type

conference paper

Language

English

Authors

Chavez Plascencia Alfredo, Ph.D.
Caltenco Héctor (FIT)
Beran Vítězslav, doc. Ing., Ph.D. (DCGM)

URL

Keywords

Shared Control, Autonomous Wheelchair System

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.)

Annotation

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.)

Published

2014

Pages

353–359

Proceedings

ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics

ISBN

978-989-758-040-6

Publisher

IEEE Computer Society

Place

Vienna

DOI

10.5220/0005026403530359

EID Scopus

2-s2.0-84910076985

BibTeX

@inproceedings{BUT124054,
  author="Alfredo {Chavez Plascencia} and Héctor {Caltenco} and Vítězslav {Beran}",
  title="Comparison of Different Powered-wheelchair Control Modes for Individuals with Severe Motor Impairments",
  booktitle="ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics",
  year="2014",
  pages="353--359",
  publisher="IEEE Computer Society",
  address="Vienna",
  doi="10.5220/0005026403530359",
  isbn="978-989-758-040-6",
  url="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7049621"
}