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Using self-reliance factors to decide how to share control between human powered wheelchair drivers and ultrasonic sensors

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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 languageEnglish
Pages (from-to)1221-1229
Number of pages9
JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
Volume25
Issue number8
Early online date25 Oct 2016
DOIs
Publication statusPublished - 30 Aug 2017

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