Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs

Within this work, we demonstrate the applicability of a three degrees of freedom orientation tracker as suitable controlling equipment for an autonomous wheelchair. It is shown that a small-size sensor device, like the XSens MTx, can either serve as a joystick replacement, or as an interface device for a newly developed navigation algorithm. Specifically, the sensor device is mounted at the back of its operator´s head, where it permanently measures posture values that are converted into adequate steering commands. Comprehensive experiments in a real world office scenario with untrained participants are used for evaluation purposes.