Navigation skills based profiling for collaborative wheelchair control
This work presents a new approach to proactive collaborative wheelchair control. The system is based on estimating how much help the person needs at each situation and providing just the correct amount. This is achieved by combining robot and human control commands in a reactive fashion after weighting them by their respective local efficiency. Thus, the better the person drives, the more control he/she is awarded with. In order to predict how much help users may need in advance rather than waiting for them to decrease in efficiency, their skills to deal with each situation are estimated with respect to a baseline driver profile to increase assistance when needed. Situations are characterized at reactive level to keep a reduced set. This profile has been extracted from real traces of more than 70 inpatients presenting different physical and cognitive skills via clustering. The approach has been successfully tested at Fondazione Santa Lucia (FSL) in Rome.
G. Peinado C. Urdiales J.M. Peula M. Fdez-Carmona R. Annicchiarico F. Sandoval C. Caltagirone
ISIS group,ETSI Telecommunications,University of M(a)laga,29071 M(a)laga,Spain Fondazione Santa Lucia,Via Ardeatina 306,00179 Roma,Italy
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2229-2234
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）