Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

May 2002


Copyright 2002 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA 2002), Volume 4, pages 3583-3588.
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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.


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



Date Posted: 24 November 2004

This document has been peer reviewed.