DocumentCode :
663970
Title :
Multimodal control of a robotic wheelchair: Using contextual information for usability improvement
Author :
Escobedo, Arturo ; Spalanzani, Anne ; Laugier, C.
Author_Institution :
INRIA Rhone-Alpes, Grenoble, France
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
4262
Lastpage :
4267
Abstract :
In this paper, a method to perform semi-autonomous navigation on a wheelchair is presented. The wheelchair could be controlled in semi-autonomous mode estimating the user´s intention by using a face pose recognition system or in manual mode. The estimator was performed within a Bayesian network approach. To switch these two modes, a speech interface was used. The user´s intention was modeled as a set of typical destinations visited by the user. The algorithm was implemented to one experimental wheelchair robot. The new application of the wheelchair system with more natural and easy-to-use human machine interfaces was one of the main contributions. as user´s habits and points of interest are employed to infer the user´s desired destination in a map. Erroneous steering signals coming from the user-machine interface input are filtered out, improving the overall performance of the system. Human aware navigation, path planning and obstacle avoidance are performed by the robotic wheelchair while the user is just concerned with “looking where he wants to go”.
Keywords :
belief networks; collision avoidance; control engineering computing; face recognition; handicapped aids; human computer interaction; mobile robots; pose estimation; speech-based user interfaces; steering systems; wheelchairs; Bayesian network; contextual information; easy-to-use human machine interfaces; erroneous steering signals; face pose recognition system; human aware navigation; map; multimodal control; obstacle avoidance; path planning; robotic wheelchair; semiautonomous mode; semiautonomous navigation; speech interface; usability improvement; user intention estimation; wheelchair system; Face; Manuals; Mobile robots; Navigation; Trajectory; Wheelchairs; Bayesian inference; Intention estimation; face control; semi-autonomous navigation; voice control; wheelchair control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696967
Filename :
6696967
Link To Document :
بازگشت