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Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform
March/April 2007 (vol. 22 no. 2)
pp. 33-41
Sarangi P. Parikh, US Naval Academy and York College of Pennsylvania
Valdir Grassi Jr., University of Pennsylvania and University of S?o Paulo
Vijay Kumar, University of Pennsylvania
Jun Okamoto Jr., University of S?o Paulo
Researchers have developed and assessed a computer-controlled wheelchair called the Smart Chair. A shared control framework has different levels of autonomy, allowing the human operator complete control of the chair at each level while ensuring the user's safety. The semiautonomous system incorporates deliberative motion plans or controllers, reactive behaviors, and human user inputs. At every instant in time, control inputs from three sources are integrated continuously to provide a safe trajectory to the destination. Experiments with 50 participants demonstrate quantitatively and qualitatively the benefits of human-robot augmentation in three modes of operation: manual, autonomous, and semiautonomous. This article is part of a special issue on Interacting with Autonomy.
Index Terms:
wheelchair navigation, smart wheelchairs, user evaluations, experimental tests, shared motion control
Citation:
Sarangi P. Parikh, Valdir Grassi Jr., Vijay Kumar, Jun Okamoto Jr., "Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform," IEEE Intelligent Systems, vol. 22, no. 2, pp. 33-41, March-April 2007, doi:10.1109/MIS.2007.36
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