Improving steering of a powered wheelchair using an expert system to interpret hand tremor

David Adrian Sanders; Nils Christian Bausch

Improving steering of a powered wheelchair using an expert system to interpret hand tremor

David Adrian Sanders, Nils Christian Bausch

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

Simple expert systems are presented that will allow more people to use powered wheelchairs. The systems interpret hand tremor and provide joystick position signals. Signals are mixed with ultrasonic sensor data to identify potentially hazardous situations and assist users to find a safe course. Results are discussed from a series of timed tasks completed by users using a joystick. They suggest that the amount of sensor support should be varied depending on circumstances and skill. Drivers completed progressively more complicated courses both with and with-out sensors and the most recently published systems are used to compare results. The new expert systems consistently out-performed the most recently published systems.

Original language	English
Title of host publication	Intelligent Robotics and Applications
Subtitle of host publication	8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II
Editors	Honghai Liu, Naoyuli Kubota, Xiangyang Zhu, Rüdiger Dillmann, Dalin Zhou
Place of Publication	Switzerland
Publisher	Springer
Pages	460-471
Number of pages	12
ISBN (Electronic)	9783319228761
ISBN (Print)	9783319228754
Publication status	Published - 1 Aug 2015

Publication series

Name	Lecture notes in artificial intelligence
Publisher	Springer
Volume	9245

Keywords

powered-wheelchair, steering, expert, joystick, sensor, ultra-sonic.

Access to Document

-347043_1_En_39_Sanders and Bausch
The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-22876-1
Accepted author manuscript (Post-print), 280 KB

Ways to assist powered wheelchair users
Sanders, D. (PI), Stott, I. (CoI), Goodwin, M. J. (CoI), Langner, M. (CoI), Tewkesbury, G. (CoI), Graham-Jones, J. (CoI) & Gegov, A. (CoI)
8/02/99 → 9/07/16
Project: Innovation

Cite this

Sanders, D. A., & Bausch, N. C. (2015). Improving steering of a powered wheelchair using an expert system to interpret hand tremor. In H. Liu, N. Kubota, X. Zhu, R. Dillmann, & D. Zhou (Eds.), Intelligent Robotics and Applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II (pp. 460-471). (Lecture notes in artificial intelligence; Vol. 9245). Springer.

Sanders, David Adrian ; Bausch, Nils Christian. / Improving steering of a powered wheelchair using an expert system to interpret hand tremor. Intelligent Robotics and Applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II. editor / Honghai Liu ; Naoyuli Kubota ; Xiangyang Zhu ; Rüdiger Dillmann ; Dalin Zhou. Switzerland : Springer, 2015. pp. 460-471 (Lecture notes in artificial intelligence).

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title = "Improving steering of a powered wheelchair using an expert system to interpret hand tremor",

abstract = "Simple expert systems are presented that will allow more people to use powered wheelchairs. The systems interpret hand tremor and provide joystick position signals. Signals are mixed with ultrasonic sensor data to identify potentially hazardous situations and assist users to find a safe course. Results are discussed from a series of timed tasks completed by users using a joystick. They suggest that the amount of sensor support should be varied depending on circumstances and skill. Drivers completed progressively more complicated courses both with and with-out sensors and the most recently published systems are used to compare results. The new expert systems consistently out-performed the most recently published systems.",

keywords = "powered-wheelchair, steering, expert, joystick, sensor, ultra-sonic.",

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Sanders, DA & Bausch, NC 2015, Improving steering of a powered wheelchair using an expert system to interpret hand tremor. in H Liu, N Kubota, X Zhu, R Dillmann & D Zhou (eds), Intelligent Robotics and Applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II. Lecture notes in artificial intelligence, vol. 9245, Springer, Switzerland, pp. 460-471.

Improving steering of a powered wheelchair using an expert system to interpret hand tremor. / Sanders, David Adrian; Bausch, Nils Christian.
Intelligent Robotics and Applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II. ed. / Honghai Liu; Naoyuli Kubota; Xiangyang Zhu; Rüdiger Dillmann; Dalin Zhou. Switzerland: Springer, 2015. p. 460-471 (Lecture notes in artificial intelligence; Vol. 9245).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Sanders DA, Bausch NC. Improving steering of a powered wheelchair using an expert system to interpret hand tremor. In Liu H, Kubota N, Zhu X, Dillmann R, Zhou D, editors, Intelligent Robotics and Applications: 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II. Switzerland: Springer. 2015. p. 460-471. (Lecture notes in artificial intelligence).

Improving steering of a powered wheelchair using an expert system to interpret hand tremor

Abstract

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Ways to assist powered wheelchair users

Cite this