RT Conference Proceedings
T1 Efficiency based modulation for wheelchair driving collaborative control.
A1 Urdiales-García, Amalia Cristina
A1 Fernández-Carmona, Manuel
A1 Peula Palacios, José Manuel
A1 Annicchiaricco, Roberta
A1 Sandoval-Hernández, Francisco
A1 Caltagirone, Carlo
K1 Robótica
K1 Ergonomía
K1 Sillas de ruedas
AB This work presents a new approach to shared control to assist wheelchair driving. Rather than swapping control from human to robot either by request or on a need basis, the system estimates how much help is needed in a reactive fashion and continuously produces an emergent motory command in combination with human input. To provide time stability and integration, instant commands are modulated by a factor depending on human efficiency in a shifting time window. Thus, the better the person drives, the more control he/she is awarded with. The approach has been tested at Fondazione Santa Lucia (FSL) in Rome with volunteers presenting different disabilities. All volunteers managed to finish a mildly complicated trajectory with door crossing and major turns and the proposed system increased efficiency in all cases.
PB IEEE
YR 2010
FD 2010-05-03
LK https://hdl.handle.net/10630/37545
UL https://hdl.handle.net/10630/37545
LA eng
NO C. Urdiales, M. Fernandez-Carmona, J. M. Peula, R. Annicchiaricco, F. Sandoval and C. Caltagirone, "Efficiency based modulation for wheelchair driving collaborative control," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, 2010, pp. 199-204, doi: 10.1109/ROBOT.2010.5509606. keywords: {Wheelchairs;Collaboration;Humans;Automatic control;Navigation;Collaborative work;Mobile robots;Robotics and automation;Safety;USA Councils},
NO https://conferences.ieeeauthorcenter.ieee.org/author-ethics/guidelines-and-policies/post-publication-policies/
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026