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Issue No. 02 - April-June (2014 vol. 7)
ISSN: 1939-1412
pp: 131-139
Xi Chen , Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
Christina Ragonesi , Dept. of Phys. Therapy, Univ. of Delaware, Newark, DE, USA
James C. Galloway , Dept. of Phys. Therapy, Univ. of Delaware, Newark, DE, USA
Sunil K. Agrawal , Dept. of Mech. Eng., Columbia Univ., New York, NY, USA
Self-initiated mobility is a causal factor in children's development. Previous studies have demonstrated the effectiveness of our training methods in learning directional driving and navigation. The ultimate goal of mobility training is to enable children to be social, that is, to interact with their peers. A powered mobility device was developed that can localize itself, map the environment, plan an obstacle-free path to a goal, and ensure safety of a human driver. Combined with a positioning system, this system is able to apply a force field using a modular haptic feedback approach to train subjects to drive towards an object, a caregiver, a peer, or a group of peers. System feasibility was tested by designing a `ball chasing' game. Results show that the system is promising in promoting socialization in children.
Force, Haptic interfaces, Path planning, Mobile robots, Robot kinematics, Training

Xi Chen, C. Ragonesi, J. C. Galloway and S. K. Agrawal, "Design of a Robotic Mobility System with a Modular Haptic Feedback Approach to Promote Socialization in Children," in IEEE Transactions on Haptics, vol. 7, no. 2, pp. 131-139, 2014.
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