2026-06-01T23:35:21Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/375452026-02-03T11:55:45Zcom_10630_2254col_10630_37959

Efficiency based modulation for wheelchair driving collaborative control. Urdiales-García, Amalia Cristina Fernández-Carmona, Manuel Peula Palacios, José Manuel Annicchiaricco, Roberta Sandoval-Hernández, Francisco Caltagirone, Carlo Robótica Ergonomía Sillas de ruedas https://conferences.ieeeauthorcenter.ieee.org/author-ethics/guidelines-and-policies/post-publication-policies/ 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. 2025-02-03T07:16:45Z 2025-02-03T07:16:45Z 2010-05-03 conference output 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}, https://hdl.handle.net/10630/37545 10.1109/ROBOT.2010.5509606 eng International Conference on Robotics and Automation Anchorage, USA Mayo 2010 open access IEEE