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Wheelchair collaborative control for disabled users navigating indoors.

Cristina Urdiales¹, Manuel Fernández-Carmona, José M Peula

¹Departamento Tecnología Electronica, ETSI Telecomunicación, Universidad de Málaga, Campus Teatinos, Spain. cristina@dte.uma.es

Artificial Intelligence in Medicine

|July 5, 2011

Summary

This study introduces collaborative control for robotic wheelchairs, allowing simultaneous user and robot input. This adaptive shared control significantly improves task performance for individuals with disabilities.

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Area of Science:

Robotics
Assistive Technology
Rehabilitation Engineering

Background:

Mobility is crucial for independent living, with robotic wheelchairs offering assistance to individuals with severe disabilities.
Existing shared control systems often switch between user and robot control, potentially leading to skill degradation and frustration.
Maximizing user participation in control is essential for maintaining residual abilities and psychological well-being.

Purpose of the Study:

To introduce and evaluate a novel shared control technique for robotic wheelchairs termed collaborative control.
To enable simultaneous command contributions from both the user and the robotic wheelchair.
To develop an adaptive assistance system that responds to individual user needs.

Main Methods:

Developed a collaborative control strategy where user and robot commands are weighted by local efficiencies.
Integrated commands using a reactive navigation strategy for seamless control.
Tested the collaborative control system with 18 volunteers with diverse physical and cognitive disabilities in a home environment.

Main Results:

All participants successfully navigated a complex test path using the collaborative control system.
The system demonstrated positive user and caregiver feedback regarding usability and effectiveness.
High acceptance rates were observed, as measured by the psychosocial impact of assistive devices scale.

Conclusions:

Collaborative control effectively adapts to individual user needs, providing localized assistance for specific disabilities.
The approach significantly improves task performance, with statistical significance (p=0.016) confirmed by ANOVA.
This method offers a promising advancement in shared control for robotic wheelchairs, enhancing user autonomy and experience.