Semi-autonomous mobility assistance for power wheelchair users navigating crowded environments

Area of Science:

• Robotics
• Assistive Technology
• Human-Computer Interaction

Background:

• Power wheelchair users with cognitive or physical impairments struggle navigating crowded spaces.
• Current systems require constant user awareness and precise control, which is challenging for many users.
• Imprecise control and environmental perception can lead to unintended collisions.

Purpose of the Study:

• To develop an intelligent control system for power wheelchairs that prevents accidental collisions.
• To augment user input with sensor data to enhance maneuverability in complex environments.
• To reduce the cognitive load on power wheelchair users.

Main Methods:

• Integrated an ultrasonic sensor ring around the wheelchair to detect nearby objects.
• Combined sensor data with joystick input to create a potential field for intended motion.
• Calculated an optimal motion vector to avoid detected obstacles.

Main Results:

• The system successfully detects objects within a defined radius.
• The control method generates motion vectors that actively avoid collisions.
• Reduced the need for precise user input and constant environmental monitoring.

Conclusions:

• The developed system effectively prevents accidental collisions in power wheelchairs.
• This technology enhances navigation capabilities for users with impairments in complex environments.
• The system significantly reduces cognitive load, allowing for simpler and/or imprecise user input.