Using Self-Reliance Factors to Decide How to Share Control Between Human Powered Wheelchair Drivers and Ultrasonic...

Area of Science:

• Robotics
• Assistive Technology
• Human-Computer Interaction

Background:

• Powered wheelchairs are essential mobility devices for individuals with disabilities.
• Existing control systems may present challenges for drivers with certain physical limitations.
• Integrating environmental awareness can enhance wheelchair safety and usability.

Purpose of the Study:

• To present a novel shared-control scheme for powered wheelchairs.
• To enable seamless integration of human (joystick) and sensor-based control.
• To enhance driving safety and efficiency for disabled wheelchair users.

Main Methods:

• Developed a shared-control architecture combining joystick and sensor system inputs.
• Implemented an automatic controller to establish control gains based on a calculated self-reliance factor.
• Enabled the wheelchair system to modify direction based on local environmental data.
• Designed the sensor system to compensate for potential driver deficiencies.

Main Results:

• The shared-control scheme allows for combined operation between the driver and the sensor system.
• The controller dynamically adjusts control gains, optimizing the balance between human and sensor input.
• The system demonstrated the ability to modify wheelchair direction based on environmental context.
• Practical tests confirmed the effectiveness and validity of the proposed shared-control techniques.

Conclusions:

• The proposed shared-control system enhances the safety and efficiency of powered wheelchair operation for disabled drivers.
• Automatic gain adjustment based on a self-reliance factor ensures adaptive and personalized control.
• Environmental awareness and sensor-based compensation significantly improve driving assistance.