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

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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 languageEnglish
Title of host publicationIntelligent Robotics and Applications
Subtitle of host publication8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Pproceedings, part II
EditorsHonghai Liu, Naoyuli Kubota, Xiangyang Zhu, Rüdiger Dillmann, Dalin Zhou
Place of Publication Switzerland
PublisherSpringer
Pages460-471
Number of pages12
ISBN (Electronic)9783319228761
ISBN (Print)9783319228754
Publication statusPublished - 1 Aug 2015

Publication series

NameLecture notes in artificial intelligence
PublisherSpringer
Volume9245

Keywords

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

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