Human Robot Interaction: Application to Smart Wheelchairs
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handicapped aids
intelligent control
mobile robots
motion control
user interfaces
assistive devices
control algorithms
human robot interaction
sensors suite
smart wheelchairs
software architecture
vision-based human interaction interface
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This paper addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Specifically, we focus on (a) the vision-based human interaction interface; (b) the suite of sensors on the chair; and (c) the software architecture and the control algorithms used to control the chair.
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Copyright 2002 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA 2002), Volume 4, pages 3583-3588. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21828&page=2 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.