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Any severe motor disability is a condition that limits the ability to interact with the environment, even the domestic one, caused by the loss of control over one’s mobility. This work presents RoboEYE, a power wheelchair designed to allow users to move easily and autonomously within their homes. To achieve this goal, an innovative, cost-effective and user-friendly control system was designed, in which a non-invasive eye tracker, a monitor, and a 3D camera represent some of the core elements. RoboEYE integrates functionalities from the mobile robotics field into a standard power wheelchair, with the main advantage of providing the user with two driving options and comfortable navigation. The most intuitive and direct modality foresees the continuous control of frontal and angular wheelchair velocities by gazing at different areas of the monitor. The second, semi-autonomous modality allows navigation toward a selected point in the environment by just pointing and activating the wished destination while the system autonomously plans and follows the trajectory that brings the wheelchair to that point. The purpose of this work was to develop the control structure and driving interface designs of the aforementioned driving modalities taking into account also uncertainties in gaze detection and other sources of uncertainty related to the components to ensure user safety. Furthermore, the driving modalities, in particular the semi-autonomous one, were modeled and qualified through numerical simulations and experimental verification by testing volunteers, who are regular users of standard electric wheelchairs, to verify the efficiency, reliability and safety of the proposed system for domestic use. RoboEYE resulted suitable for environments with narrow passages wider than 1 m, which is comparable with a standard domestic door and due to its properties with large commercialization potential.

Social farming represents a hybrid governance model in which public bodies, local communities, and economic actors act together to promote health and social inclusion in rural areas. Although relational variables are crucial to foster social farm performance, the relational system in which farms are embedded has still not been fully described. Using social network analysis, here we map the nature of the links of a selected sample of social farms operating in Northern Italy. We also explore possible network variations following specific actions taken to potentiate local social farming initiatives. The results show a certain degree of variability in terms of the extension and features of the examined networks. Overall, the actions taken appear to be significant to enlarge and diversify farms’ networks. Social farming has the potential to provide important benefits to society and the environment and to contrast vulnerability in rural areas. Being able to create social and economic networks of local communities, social farming may also represent an innovative way to respond to the cultural shift from institutional psychiatry to community-based mental health care. This study emphasizes the critical role played by network facilitation in diversifying actors, promoting heterogeneous relationships, and, in turn, system complexity.

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