Concept and Design of the Intellwheels Platform for Developing Intelligent Wheelchairs

Braga, Rodrigo A. M.; Petry, Marcelo Roberto; Moreira, António Paulo; Reis, Luís Paulo

doi:10.1007/978-3-642-00271-7_14

Cited by 36 publications

(19 citation statements)

References 9 publications

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“…The results presented in Cunha et al [38] establish a comparison with JA DE and demonstrate the effectiveness and adequacy of the proposed communication model to mobile robots in dynamic environments. In Braga et al [22], a probabilistic odometry motion model for an active localization system was discussed and tested. One solution to reduce the localization error was to c ompute the uncertainty (variance) of the odometry.…”

Section: Discussionmentioning

confidence: 99%

“…Thus, to provide these capabilities to electricpowered wheelchairs, we developed a generic hardware framework (designed to be flexible enough to fit most commercial wheelchairs) [22]. This framework contains a set of devices that can be classified according to their functionality into three blocks: user inputs (traditional joystick, universal serial bu s [USB] joystick, head gestures, keyboard, facial expression, and voice), IW sensors (sonar, encoder, webcam, in frared), and other hardware devices (control/data acquisition board, power module, personal computer notebook).…”

Section: Intellwheels Hardware Modulementioning

confidence: 99%

“…To find a path from a given initial point to a given goal point, the system includes an adapted A* Algorithm [22,31].…”

Section: Planning Modulementioning

confidence: 99%

“…The suite of functions pertaining to this module is currently implemented by the perception agent, explained in detail in Braga et al [22].…”

Section: Navigation Modulementioning

confidence: 99%

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IntellWheels: Modular development platform for intelligent wheelchairs

Braga¹,

Petry²,

Reis³

et al. 2011

JRRD

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Abstract-Intelligent wheelchairs (IWs) can become an important solution to the challenge of assisting individuals who have disabilities and are thus unable to perform their daily activities using classic powered wheelchairs . This article describes the concept and design of IntellWheels, a modular platform to facilitate the development of IWs through a multiagent system paradigm. In fact, modularity is achieved not only in the software perspective, but also through a generic hardware framework that was designed to fit, in a straightforward manner, almost any commercial powere d wheelchair. Experimental results demonstrate the successful integration of all modules in the platform, providing safe motion to the IW. Furthermore, the results achieved with a prototype running in autonomous mode in simulated and mixed-reality environments also demonstrate the potential of our approach. Although some future research is still necessary to fully accomplish our objectives, preliminary tests have show n that IntellWheels will effectively reduce users' limitations, offering them a much more independent life.

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Section: Discussionmentioning

confidence: 99%

Section: Intellwheels Hardware Modulementioning

confidence: 99%

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IntellWheels: Modular development platform for intelligent wheelchairs

Braga¹,

Petry²,

Reis³

et al. 2011

JRRD

Self Cite

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“…A simple definition of Intelligent Wheelchair is a locomotion device used to assist a user having some kind of physical disability, where an artificial control system augments or replaces the user control [6][7]. The main objective is to reduce or eliminate the user's task of having to drive a motorized wheelchair.…”

Section: Intelligent Wheelchairs' Developmentsmentioning

confidence: 99%

Adapted Control Methods for Cerebral Palsy Users of an Intelligent Wheelchair

Faria

Reis

Lau

2014

J Intell Robot Syst

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-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 the IntelllWheels 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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