Comparison of different powered-wheelchair control modes for individuals with severe motor impairments
Chavez, Alfredo; Caltenco, Héctor; Beran, Vitezslav (2014). Comparison of different powered-wheelchair control modes for individuals with severe motor impairments Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 02,, 353 - 359. Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on: IEEE - Institute of Electrical and Electronics Engineers Inc.
Conference Proceeding/Paper
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Published
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English
Authors:
Chavez, Alfredo
;
Caltenco, Héctor
;
Beran, Vitezslav
Department:
Certec - Rehabilitation Engineering and Design
Research Group:
Certec - Rehabilitation Engineering and Design
Abstract:
This paper presents the preliminary evaluation of different powered-wheelchair control modes for individuals with severe motor impediments. To this end, a C400 Permobil wheelchair has been updated with a control command communication interface and equipped with a scanning laser sensor to carry out the automation algorithms that are part of the robot operating system framework. A pilot test was performed with three different modalities; hand-joystick mode, tongue-joystick mode and autonomous mode. The results of the tests have proven the feasibility of using a power wheelchair either autonomously or controlled by users interchangeably in order to continue the development towards a better user/wheelchair shared-control paradigm.
Keywords:
Tongue ;
Wheelchairs ;
Autonomous Wheelchair System ;
Shared Control ;
Navigation ;
Robot sensing systems ;
Control systems ;
Laser modes ;
Computers
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