相关论文: Controlling wheelchairs by body motions: A learnin…
Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is crucial when the…
Retention of residual skills for persons who partially lose their cognitive or physical ability is of utmost importance. Research is focused on developing systems that provide need-based assistance for retention of such residual skills.…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
The integration of brain-computer interfaces (BCIs) into the realm of smart wheelchair (SW) technology signifies a notable leap forward in enhancing the mobility and autonomy of individuals with physical disabilities. BCIs are a technology…
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…
Virtual reality allows to create situations which can be experimented under the control of the user, without risks, in a very flexible way. This allows to develop skills and to have confidence to work in real conditions with real equipment.…
Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users high-level navigation plans. To find such a path, vehicles negotiate with different terrains and assess their traversal…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
In this paper, we propose a modular navigation system that can be mounted on a regular powered wheelchair to assist disabled children and the elderly with autonomous mobility and shared-control features. The lack of independent mobility…
Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
Spinal cord injuries can often lead to quadriplegia in patients limiting their mobility. Wheelchairs could be a good proposition for patients, but most of them operate either manually or with the help of electric motors operated with a…
In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, maneuvering such systems with mobile manipulators (MM) is…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Impairment of hand functions in individuals with spinal cord injury (SCI) severely disrupts activities of daily living. Recent advances have enabled rehabilitation assisted by robotic devices to augment the residual function of the muscles.…
The aim of this paper is to design and construct an electroencephalograph (EEG) based brain-controlled wheelchair to provide a communication bridge from the nervous system to the external technical device for people of determination or…