Adapted control methods for cerebral palsy users of an intelligent wheelchair
Autor(a) principal: | |
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Data de Publicação: | 2014 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/5417 |
Resumo: | The development of an intelligent wheelchair (IW) platform that may be easily adapted to any commercial electric powered wheelchair and aid any person with special mobility needs is the main objective of this project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several algorithms were developed for each of these control methods. This paper presents three of the most significant of those algorithms with emphasis on the shared control method. Experiments were performed by users suffering from cerebral palsy, using a realistic simulator, in order to validate the approach. The experiments revealed the importance of using shared (aided) controls for users with severe disabilities. The patients still felt having complete control over the wheelchair movement when using a shared control at a 50% level and thus this control type was very well accepted. Thus it may be used in intelligent wheelchairs since it is able to correct the direction in case of involuntary movements of the user but still gives him a sense of complete control over the IW movement. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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Adapted control methods for cerebral palsy users of an intelligent wheelchairIntelligent roboticsIntelligent systemsIntelligent wheelchairShared controlCerebral palsyThe development of an intelligent wheelchair (IW) platform that may be easily adapted to any commercial electric powered wheelchair and aid any person with special mobility needs is the main objective of this project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several algorithms were developed for each of these control methods. This paper presents three of the most significant of those algorithms with emphasis on the shared control method. Experiments were performed by users suffering from cerebral palsy, using a realistic simulator, in order to validate the approach. The experiments revealed the importance of using shared (aided) controls for users with severe disabilities. The patients still felt having complete control over the wheelchair movement when using a shared control at a 50% level and thus this control type was very well accepted. Thus it may be used in intelligent wheelchairs since it is able to correct the direction in case of involuntary movements of the user but still gives him a sense of complete control over the IW movement.Kimon P. ValavanisRepositório Científico do Instituto Politécnico do PortoFaria, Brigida MonicaReis, Luis PauloLau, Nuno2015-01-15T12:20:42Z2014-01-192014-01-19T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/5417engFaria, B. M., Reis, L. P., & Lau, N. (2014). Adapted control methods for cerebral palsy users of an intelligent wheelchair. Journal of Intelligent and Robotic Systems, 77, 299–312. https://doi.org/10.1007/s10846-013-0010-910.1007/s10846-013-0010-9info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-12-20T01:52:37Zoai:recipp.ipp.pt:10400.22/5417Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:26:04.654268Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
title |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
spellingShingle |
Adapted control methods for cerebral palsy users of an intelligent wheelchair Faria, Brigida Monica Intelligent robotics Intelligent systems Intelligent wheelchair Shared control Cerebral palsy |
title_short |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
title_full |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
title_fullStr |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
title_full_unstemmed |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
title_sort |
Adapted control methods for cerebral palsy users of an intelligent wheelchair |
author |
Faria, Brigida Monica |
author_facet |
Faria, Brigida Monica Reis, Luis Paulo Lau, Nuno |
author_role |
author |
author2 |
Reis, Luis Paulo Lau, Nuno |
author2_role |
author author |
dc.contributor.none.fl_str_mv |
Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Faria, Brigida Monica Reis, Luis Paulo Lau, Nuno |
dc.subject.por.fl_str_mv |
Intelligent robotics Intelligent systems Intelligent wheelchair Shared control Cerebral palsy |
topic |
Intelligent robotics Intelligent systems Intelligent wheelchair Shared control Cerebral palsy |
description |
The development of an intelligent wheelchair (IW) platform that may be easily adapted to any commercial electric powered wheelchair and aid any person with special mobility needs is the main objective of this project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several algorithms were developed for each of these control methods. This paper presents three of the most significant of those algorithms with emphasis on the shared control method. Experiments were performed by users suffering from cerebral palsy, using a realistic simulator, in order to validate the approach. The experiments revealed the importance of using shared (aided) controls for users with severe disabilities. The patients still felt having complete control over the wheelchair movement when using a shared control at a 50% level and thus this control type was very well accepted. Thus it may be used in intelligent wheelchairs since it is able to correct the direction in case of involuntary movements of the user but still gives him a sense of complete control over the IW movement. |
publishDate |
2014 |
dc.date.none.fl_str_mv |
2014-01-19 2014-01-19T00:00:00Z 2015-01-15T12:20:42Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/5417 |
url |
http://hdl.handle.net/10400.22/5417 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Faria, B. M., Reis, L. P., & Lau, N. (2014). Adapted control methods for cerebral palsy users of an intelligent wheelchair. Journal of Intelligent and Robotic Systems, 77, 299–312. https://doi.org/10.1007/s10846-013-0010-9 10.1007/s10846-013-0010-9 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Kimon P. Valavanis |
publisher.none.fl_str_mv |
Kimon P. Valavanis |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
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1799131354772799488 |