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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...
This work presents a new approach to shared control driving a robotic wheelchair for persons with disabilities. The proposal is based on weighting the robot and human commands by their respective efficiencies to obtain an emergent command in a reactive way. It was tested with a robotized Meyra wheelchair at Fondazione Santa Lucia (FSL) in Rome with volunteers presenting different disabilities and...
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...
This paper presents the PAS-Arm (passive assist arm), a novel assist arm based on passive robotics. PAS-Arms are intended for direct physical interaction with a human operator. PAS-Arms are physically passive. Their purpose is not to enhance human strength but to produce specified but arbitrary two-dimensional guiding surfaces that constrain and guide the motion of the human operator. PAS-Arms have...
A final purpose of this study is to design a dexterity assistance system for operating a machine. In order to design a dexterity assistance system, analysis of human characteristics is necessary. And the study of stabilizing operation of an inverted pendulum is important for understanding the neural control of balance and skill acquisition. Therefore, this study focuses on stabilizing operation of...
The system presented is oriented for use by blind adults or children in running activities at a stadium or an analogical large space. The system dynamically provides a blind person with navigation related information. Radio signal strength measurements are used in localization task. The system makes a blind person more independent in sport, eliminating the need in explicit human assistance.
Because of the increasing size of the elderly sector of Japanese society, the need for an intelligent wheelchair has increased. This paper presents the development of an intelligent wheelchair for elderly persons. In order to assist the maneuvering of the intelligent wheelchair, we employed an omni-directional camera and a slightly tilted laser rangefinder. By using this combination of sensors, the...
A simple self-transfer aid robotic system is proposed, and the evaluations on the human's physical burdens when using a transfer aid robotic system are presented in this paper. A person with weak leg muscles who uses a wheel chair is assumed to be the target user. By using the self-transfer aid robotic system, a user can transfer between a wheel chair and a toilet, for example. The proposed self-transfer...
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