Action control method for powered wheelchairs considering control input and environmental information

Ishihara Yu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Powered wheelchair is a mobility commonly used for people with disabilities. Recently, to improve the safety and efficiency of powered wheelchairs, various systems with control assistance are proposed. However most of the systems suppose joystick as input device and doesn't consider about people with difficulties using it. Not all devices alternative to joystick have enough operability compared to joystick. In this paper, considering corridor passing as verification environment, an action control method to drive through the corridor safely and efficiently for wheelchairs controlled by devices with low operability is presented. To achieve safe and efficient driving, proposed method considers the time series of passenger's input commands and combines the environmental information to select effective direction and speed for the wheelchair instead of passenger. Moreover for environment recognition, corridor detection algorithm is also proposed. To verify the effectiveness of proposed method, simulations and experiments were carried out.

Original languageEnglish
Title of host publicationICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Pages28-36
Number of pages9
Publication statusPublished - 2011 Sep 14
Event8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
Duration: 2011 Jul 282011 Jul 31

Publication series

NameICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Volume2

Other

Other8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
CountryNetherlands
CityNoordwijkerhout
Period11/7/2811/7/31

Keywords

  • Corridor detection
  • Human robot interaction
  • Powered wheelchair

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering

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  • Cite this

    Yu, I., & Takahashi, M. (2011). Action control method for powered wheelchairs considering control input and environmental information. In ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (pp. 28-36). (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).