article

A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation

Authors:

M. Fdez-Carmona,

I. Sánchez-Tato,

R. Annichiaricco,

C. Caltagirone,

F. SandovalAuthors Info & Claims

Autonomous Robots, Volume 30, Issue 2

Pages 179 - 197

https://doi.org/10.1007/s10514-010-9211-2

Published: 01 February 2011 Publication History

Abstract

In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability.

Robot wheelchairs, though, are not supposed to be completely in control because lack of human intervention may lead to loss of residual capabilities and frustration. Most of these systems rely on shared control, which typically consists of swapping control from human to robot when needed. However, this means that persons never deal with situations they find difficult. We propose a new shared control approach to allow constant cooperation between humans and robots, so that assistance may be adapted to the user's skills. Our proposal is based on the reactive navigation paradigm, where robot and human commands become different goals in a Potential Field. Our main novelty is that human and robot attractors are weighted by their respective local efficiencies at each time instant. This produces an emergent behavior that combines both inputs in an efficient, safe and smooth way and is dynamically adapted to the user's needs. The proposed control scheme has been successfully tested at hospital Fondazione Santa Lucia (FSL) in Rome with several volunteers presenting different disabilities.

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Cited By

Zhou HSomarathne PPeirispulle TFan CSarsenbayeva ZWithana A(2024)PairPlayVR: Shared Hand Control for Virtual GamesProceedings of the Augmented Humans International Conference 202410.1145/3652920.3653057(311-314)Online publication date: 4-Apr-2024
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Kutbi MLi HChang YSun BLi XCai CAgadakos NHua GMordohai P(2023)Egocentric Computer Vision for Hands-Free Robotic Wheelchair NavigationJournal of Intelligent and Robotic Systems10.1007/s10846-023-01807-4107:1Online publication date: 14-Jan-2023
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Zhang BBarbareschi GRamirez Herrera RCarlson THolloway C(2022)Understanding Interactions for Smart Wheelchair Navigation in CrowdsProceedings of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491102.3502085(1-16)Online publication date: 29-Apr-2022
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A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

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cover image Autonomous Robots

Autonomous Robots Volume 30, Issue 2

February 2011

106 pages

ISSN:0929-5593

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Copyright © Copyright © 2011 Springer Science+Business Media, LLC.

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Kluwer Academic Publishers

United States

Publication History

Published: 01 February 2011

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Cited By

Zhou HSomarathne PPeirispulle TFan CSarsenbayeva ZWithana A(2024)PairPlayVR: Shared Hand Control for Virtual GamesProceedings of the Augmented Humans International Conference 202410.1145/3652920.3653057(311-314)Online publication date: 4-Apr-2024
https://dl.acm.org/doi/10.1145/3652920.3653057
Kutbi MLi HChang YSun BLi XCai CAgadakos NHua GMordohai P(2023)Egocentric Computer Vision for Hands-Free Robotic Wheelchair NavigationJournal of Intelligent and Robotic Systems10.1007/s10846-023-01807-4107:1Online publication date: 14-Jan-2023
https://dl.acm.org/doi/10.1007/s10846-023-01807-4
Zhang BBarbareschi GRamirez Herrera RCarlson THolloway C(2022)Understanding Interactions for Smart Wheelchair Navigation in CrowdsProceedings of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491102.3502085(1-16)Online publication date: 29-Apr-2022
https://dl.acm.org/doi/10.1145/3491102.3502085
Eberle HZhang BTeodorescu CWalker GCarlson T(2021)An ‘Ethical Black Box’, Learning From Disagreement in Shared Control Systems2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)10.1109/SMC52423.2021.9658964(398-403)Online publication date: 17-Oct-2021
https://dl.acm.org/doi/10.1109/SMC52423.2021.9658964
Poon JCui YMiro JMatsubara TSugimoto K(2017)Local driving assistance from demonstration for mobility aids2017 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2017.7989699(5935-5941)Online publication date: 29-May-2017
https://dl.acm.org/doi/10.1109/ICRA.2017.7989699
Viswanathan PZambalde EFoley GGraham JWang RAdhikari BMackworth AMihailidis AMiller WMitchell I(2017)Intelligent wheelchair control strategies for older adults with cognitive impairmentAutonomous Robots10.1007/s10514-016-9568-y41:3(539-554)Online publication date: 1-Mar-2017
https://dl.acm.org/doi/10.1007/s10514-016-9568-y
Foley GViswanathan PZambalde EMihailidis AFavela JWeibel N(2016)Analyzing drivers' affect for the design of intelligent wheelchairs for older adults with cognitive impairmentProceedings of the 10th EAI International Conference on Pervasive Computing Technologies for Healthcare10.5555/3021319.3021364(268-273)Online publication date: 16-May-2016
https://dl.acm.org/doi/10.5555/3021319.3021364
Urdiales C(2011)The bare necessities: Adaptive assistance for wheelchair controlAI Communications10.5555/2350124.235012524:4(337-339)Online publication date: 1-Dec-2011
https://dl.acm.org/doi/10.5555/2350124.2350125

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