Holonomic wheelchair control using EMG signal and joystick interface

Aim of this paper is to develop a multimodal control strategy for a holonomic omnidirectional drive system which will be employed as a transporter for carrying disabled persons. The drive mechanism chosen here is Omni drive to enable lateral mobility of the system which provides efficient movement in narrow space due to higher degree of maneuverability. For controlling omni drive, we need 3 degree of freedom, two for position and one for orientation. We have used a 3D joystick which gives us control signals in 3 rotary axis. Forward, lateral velocities and turn rates of the omni system are mapped with the joystick axes. An alternative mode of control has also been developed with the help of EMG bio signals to make the system more convenient and easy to use. Robots localization in the arena has been done with an overhead mounted webcam and a special augmented reality based marker. The proposed system has potential application in the field of assistive device, rehabilitation robotics and in multipurpose robot navigation.