Assisting versus repelling force-feedback for learning of a line following task in a wheelchair

Previous work has shown that training with the "assist-as-needed" method using a force-feedback joystick can improve the driving performance of children and adults. This paper is the first study to evaluate training with a repelling force versus an assisting force for learning of a line following task in a wheelchair through a force-feedback joystick. We designed a robotic training wheelchair, that can accurately localize itself in the training environment, and implemented assisting and repelling force fields on the force-feedback joystick. The training protocol included three groups. The control (CT) group received no force feedback. The assisting force (AF) group was trained using the "assist-as-needed" paradigm. The repelling force (RF) group was trained with the repelling force field. We observed that both the AF and RF groups improved their driving skills. The error reductions of both groups were not statistically different under the current setting. We believe that this pilot study could provide a promising foundation regarding the effects of a robotic wheelchair training algorithm on motor learning.