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Researchers have developed and assessed a computer-controlled wheelchair called the Smart Chair. A shared control framework has different levels of autonomy, allowing the human operator complete control of the chair at each level while ensuring the user's safety. The semiautonomous system incorporates deliberative motion plans or controllers, reactive behaviors, and human user inputs. At every instant in time, control inputs from three sources are integrated continuously to provide a safe trajectory to the destination. Experiments with 50 participants demonstrate quantitatively and qualitatively the benefits of human-robot augmentation in three modes of operation: manual, autonomous, and semiautonomous. This article is part of a special issue on Interacting with Autonomy.
experimental tests, shared motion control, smart wheelchairs, user evaluations, wheelchair navigation
Parikh, Saranghi P.; Grassi, Valdir Jr.; Kumar, R. Vijay; and Okamoto, Jun Jr., "Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform" (2007). Departmental Papers (MEAM). 82.
Date Posted: 23 April 2007
This document has been peer reviewed.