2026-05-30T10:25:15Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/376602026-02-03T12:15:13Zcom_10630_2254col_10630_37959

00925njm 22002777a 4500 dc Fernández-Carmona, Manuel author Fernández-Espejo, Blanca author Peula Palacios, José Manuel author Urdiales-García, Amalia Cristina author Sandoval-Hernández, Francisco author 2009-06-23 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. 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}, https://hdl.handle.net/10630/37660 Sillas de ruedas Robótica Biometría Efficiency based collaborative control modulated by biometrics for wheelchair assisted navigation