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Abstract
A shared-control scheme for a powered wheelchair is presented. The wheelchair can be operated by a wheelchair driver using a joystick, or directed by a sensor system, or control can be combined between them. The wheelchair system can modify direction depending on the local environment. Sharing the control allows a disabled wheelchair driver to drive safely and efficiently. The controller automatically establishes the control gains for the sensor system and the human driver by calculating a self-reliance factor for the wheelchair driver. The sensor system can influence the motion of the wheelchair to compensate for some deficiency in a disabled driver. Practical tests validate the proposed techniques and designs.modify direction depending on the local environment. Sharing the control allows a disabled wheelchair driver to drive safely and efficiently. The controller automatically establishes the control gains for the sensor system and the human driver by calculating a self-reliance factor for the wheelchair driver. The sensor system can influence the motion of the wheelchair to compensate for some deficiency in a disabled driver. Practical tests validate the proposed techniques and designs.
Original language | English |
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Pages (from-to) | 1221-1229 |
Number of pages | 9 |
Journal | IEEE Transactions on Neural Systems and Rehabilitation Engineering |
Volume | 25 |
Issue number | 8 |
Early online date | 25 Oct 2016 |
DOIs | |
Publication status | Published - 30 Aug 2017 |
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Vehicle Driving
Sanders, D. (PI), Tewkesbury, G. (CoI), Chiverton, J. (CoI) & Vuksanovic, B. (Team Member)
13/03/17 → …
Project: Research
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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