Title :
Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs
Author :
Mandel, Christian ; Röfer, Thomas ; Frese, Udo
Author_Institution :
Univ. of Bremen, Bremen
Abstract :
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.
Keywords :
biocybernetics; handicapped aids; man-machine systems; mobile robots; position control; 3DOF orientation tracker; XSens MTx; autonomous wheelchairs; controlling equipment; human-robot interface; joystick replacement; navigation algorithm; office scenario; sensor device; Computer science; Control systems; Humans; Navigation; Rehabilitation robotics; Remotely operated vehicles; Tracking; Trajectory; User interfaces; Wheelchairs;
Conference_Titel :
Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on
Conference_Location :
Noordwijk
Print_ISBN :
978-1-4244-1320-1
Electronic_ISBN :
978-1-4244-1320-1
DOI :
10.1109/ICORR.2007.4428406