RT Conference Proceedings
T1 Efficiency based collaborative control modulated by biometrics for wheelchair assisted navigation
A1 Fernández-Carmona, Manuel
A1 Fernández-Espejo, Blanca
A1 Peula Palacios, José Manuel
A1 Urdiales-García, Amalia Cristina
A1 Sandoval-Hernández, Francisco
K1 Sillas de ruedas
K1 Robótica
K1 Biometría
AB This paper addresses a new collaborative control method for robotic wheelchairs. The original method was specifically designed for disabled people who are unable to drive a robotic wheelchair on their own. Its main novelty was that the wheelchair just provided the amount of help needed at each moment, to avoid loss of residual abilities. This wheelchair was tested by volunteering in-patients in Casa Agevole at Fondazione Santa Lucia (FSL) in Rome. However we found that in-patients with severe cognitive impairment were not able to complete complex trajectories despite wheelchair help. Thus, this works presents the improvement of these control techniques, more suitable for severe patients. We present a modified efficiency based collaborative control scheme based on modulation of assistance using biometric sensors, as well as preliminary results of this technique.
PB IEEE
YR 2009
FD 2009-06-23
LK https://hdl.handle.net/10630/37660
UL https://hdl.handle.net/10630/37660
LA eng
NO M. Fernandez-Carmona, B. Fernandez-Espejo, J. M. Peula, C. Urdiales and F. Sandoval, "Efficiency based collaborative control modulated by biometrics for wheelchair assisted navigation," 2009 IEEE International Conference on Rehabilitation Robotics, Kyoto, Japan, 2009, pp. 737-742, doi: 10.1109/ICORR.2009.5209573. keywords: {Collaboration;Biometrics;Wheelchairs;Navigation;Mobile robots;Robot control;Design methodology;Drives;Testing;Collaborative work},
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