Download Collaborative Assistive Robot for Mobility Enhancement by Cristina Urdiales PDF

Download Collaborative Assistive Robot for Mobility Enhancement by Cristina Urdiales PDF

By Cristina Urdiales

In these days getting older society, many folks require mobility assistance. occasionally, assistive units want a definite measure of autonomy whilst clients' disabilities tricky guide keep watch over. despite the fact that, clinicians document that over the top guidance could lead to lack of residual abilities and frustration. Shared keep an eye on specializes in determining while clients need assistance and delivering it. Collaborative regulate goals at giving simply the correct amount of assist in a clear, seamless method.

This publication provides the collaborative keep an eye on paradigm. person functionality might be indicative of physical/cognitive , so it's used to make a decision how a lot assistance is wanted. in addition to, collaborative regulate integrates laptop and person instructions in order that humans give a contribution to self-motion in any respect times.

Collaborative regulate was once largely demonstrated for three years utilizing a robotized wheelchair at a rehabilitation clinic in Rome with volunteer inpatients proposing various disabilities, starting from light to serious. We additionally current a taxonomy of universal metrics for wheelchair navigation and checks are evaluated for that reason. acquired effects are coherent either from a quantitative and qualitative aspect of view.

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The main problem of reactive architectures is that resulting global behaviors are unpredictable and, hence, not necessarily efficient. Furthermore, reactive systems may be sensitive to local traps, as they do not have a time horizon to look for. c). The hybrid style facilitates the design of efficient low level control connected to high level reasoning. Hybrid architectures typically consist of a Reactive System, a Control System and a Deliberative System for high level planning [179]. 9). Three-layer architectures organize algorithms according to whether they contain: i) no state (reactive behaviors); ii) state memories about the past (sequencer); or iii) state predictions about the future (deliberative algorithms).

It would be desirable to develop intelligent modules capable of adapting to the specifics of each user and to the evolution of his/her condition. Next chapter focuses on this very idea. 3. 4 All Together Now 39 Name Rolland [99] HCI Joystick Hardware 2 SICK lasers Zeng’s wheelchair [195] Xeno [136] Joystick Barcode scanner, Autonomous proximity sensor navigation, shared control 2 SICK laser Shared control Sevillano’s wheelchair [149] Ju’s wheelchair [72] Trieu’s wheelchair [162] Carlson’s wheelchair [19] Lopes’ wheelchair [96] IntellWheels [133] Minguez’s wheelchair [108] Head-movement interface Joystick Control type Autonomous1 , Switch2 External cameras, Shared control wireless sensor network (WSN) Joystick, facial 2 ultrasonic and 8 Autonomous recognition, infrared sensors navigation, head-movement shared control interface Head-movement SICK laser Shared control interface Capabilities Autonomous navigation1 , turn-in-place2 , wall following2 , trajectory playback2 Avoid obstacle Control algorithm DWA (reactive), Generalized Voronoi diagram (deliberative) Elastic Path Controller (EPC) Avoid obstacle Deliberative navigation Autonomous Virtual Potential navigation, Avoid Field (VPF) obstacle, pass (Reactive), topdoorway down hierarchical planning Avoid obstacle Simulated Brain Simulated laser computer interface Shared control Facial recognition, Sonar, camera head-movement and voice interface, keyboard, joy-pad and joystick Tactile screen and SICK laser voice interface Autonomous navigation, switching Avoid obstacle, Subsumption like follow corridor and architecture wall, pass doorway Avoid obstacle Forward models based obstacle avoidance Avoid obstacle, Vector Field deliberative Histogram+ navigation (VFH+) (Reactive), A* (Deliberative) Follow wall, pass Deliberative doorway, wander, navigation go to bedroom...

It contains a RGB camera, a 3D infrarred depth sensor9 , a multi-array microphone and a tilt sensor, all built on a motorized pivot. This sensor provides gesture, face and voice recognition at the same time, just for 150 USD. Six months after Kinect release, willow Garage offered a low-cost development robot -turtlebot- based on it. 5 kg. , whereas a modern Hokuyo URG-04LX weights 160 g. and is just 50 x 50 x 70 mm. Developed by Primesense for this purpose. 2 Tools of the Trade 27 Fig. 5 Range sensors: a) SICK laser; b) Polaroid sonar; c) SHARP Infrared.

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