On the Development of a Multi-Modal Autonomous Wheelchair

Abstract

The purpose of this chapter is twofold: on one hand, it aims at defining a clear framework for the design and implementation of autonomous wheelchairs, highlighting the main challenges; on the other hand, it presents a complete and working system of such type, called LURCH. This incorporates technology from autonomous robotics, and interacts with its user through a multi-modal user interface, including joystick, touch screen, electromyographic control, or brain-computer interface. If required, other input methods and controllers can be seamlessly integrated. The result is an autonomous wheelchair capable of supporting user mobility while adapting its level of autonomy both to the abilities and to the requirements of the user. Moreover, the capabilities of such a system (in terms of perception, data processing, user interface, communication) open the way to novel modes of interaction between environment and wheelchair users, really making the latter differently able, i.e., endowing them with abilities that walking people cannot access without special equipment.

Localization and tracking in known large environments using portable real-time 3D sensors

“…(5) estimates the possibility of the descriptor ˆ q , given the pose ˆ j in the same way as in step 1 of the initialization stage. 2 Equ. (6) evaluates the likelihood of being at pose ˆ j by finding the most compatible particle in .…”

“…To address this problem, we introduce the concept of reachability. Given a reachable voxel f ∈ F , all surrounding voxels (g (1) , g (2) , . .…”

“…[2,8] . Furthermore, assistance in orientation and navigation is a key aspect for applications in civil engineering or security systems whereby operators have to inspect large facilities and recover information localized to their specific position.…”

Agent-Based Intelligent Interface for Wheelchair Movement Control

“…The use of technological solutions in the field of health has significantly helped to improve our quality of life. The field of mobility is not oblivious to these improvements: since the appearance of the first motorized electric wheelchair developed by George Klein in the National Research Council (NRC) in the 50s [ 6 ], the dependence of people with motor disability has decreased noticeably thanks to the advances in this technology area. From this initial model, numerous improvements have been incorporated, such as the use of micro-processors for the improvement of their control and manoeuvrability, improvements in the autonomy of the chairs, the incorporation of suspensions and tilting seats, the appearance of new control interfaces, or even chairs that allow to go up and down stairs autonomously [ 7 ].…”

A cloud robotics system for telepresence enabling mobility impaired people to enjoy the whole museum experience

“…Present-day life reality, instead, consists of a world that is slowly getting populated by highly intelligent technological systems. Service robotics has been widely applied in assistive technologies [2], [3], rehabilitation [4], [5], [6], assistive mobility [7], remote communication systems for disabled people [8] and telepresence [9], [10], [11].…”