Adaptable navigational assistance for intelligent wheelchairs by means of an implicit personalized user model

Elderly and disabled people can experience considerable difficulties when driving a powered wheelchair, especially if they do not possess the fine steering capacities that are required to perform certain manoeuvres, like avoiding obstacles or docking at tables. In order to help these people, several...

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Published in:	Robotics and autonomous systems Vol. 58; no. 8; pp. 963 - 977
Main Authors:	Vanhooydonck, Dirk, Demeester, Eric, Hüntemann, Alexander, Philips, Johan, Vanacker, Gerolf, Van Brussel, Hendrik, Nuttin, Marnix
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 31-08-2010
Subjects:	Adaptability Computer simulation Docking Estimates Implicit user model Intelligent wheelchairs Personalized Shared control Steering Tables Tasks User intention estimation Wheelchairs Implicit user model Intelligent wheelchairs User intention estimation Shared control Adaptability
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Abstract	Elderly and disabled people can experience considerable difficulties when driving a powered wheelchair, especially if they do not possess the fine steering capacities that are required to perform certain manoeuvres, like avoiding obstacles or docking at tables. In order to help these people, several “intelligent” wheelchairs have been developed in the past, meaning that a powered wheelchair was endowed with the abilities to provide navigational assistance to its user. In such a scenario, control over the wheelchair is shared between the user and the intelligent assistance. The problem of the existing intelligent wheelchairs is, however, that the rules for assistance are hard-coded and by consequence not adaptable to the personal handicap and needs of a specific user. Therefore, this paper proposes a new, more user-centered approach to shared wheelchair control. The presented framework executes two tasks: it continuously estimates the user’s intention and it determines whether the user needs assistance to achieve that intention. An implicit user model is introduced and incorporated in the framework, in order to make the execution of both tasks adaptable to a specific user. This paper presents the proposed framework, along with experimental results in simulation and on a real wheelchair.
AbstractList	Elderly and disabled people can experience considerable difficulties when driving a powered wheelchair, especially if they do not possess the fine steering capacities that are required to perform certain manoeuvres, like avoiding obstacles or docking at tables. In order to help these people, several “intelligent” wheelchairs have been developed in the past, meaning that a powered wheelchair was endowed with the abilities to provide navigational assistance to its user. In such a scenario, control over the wheelchair is shared between the user and the intelligent assistance. The problem of the existing intelligent wheelchairs is, however, that the rules for assistance are hard-coded and by consequence not adaptable to the personal handicap and needs of a specific user. Therefore, this paper proposes a new, more user-centered approach to shared wheelchair control. The presented framework executes two tasks: it continuously estimates the user’s intention and it determines whether the user needs assistance to achieve that intention. An implicit user model is introduced and incorporated in the framework, in order to make the execution of both tasks adaptable to a specific user. This paper presents the proposed framework, along with experimental results in simulation and on a real wheelchair. Elderly and disabled people can experience considerable difficulties when driving a powered wheelchair, especially if they do not possess the fine steering capacities that are required to perform certain manoeuvres, like avoiding obstacles or docking at tables. In order to help these people, several "intelligent" wheelchairs have been developed in the past, meaning that a powered wheelchair was endowed with the abilities to provide navigational assistance to its user. In such a scenario, control over the wheelchair is shared between the user and the intelligent assistance. The problem of the existing intelligent wheelchairs is, however, that the rules for assistance are hard-coded and by consequence not adaptable to the personal handicap and needs of a specific user. Therefore, this paper proposes a new, more user-centered approach to shared wheelchair control. The presented framework executes two tasks: it continuously estimates the user's intention and it determines whether the user needs assistance to achieve that intention. An implicit user model is introduced and incorporated in the framework, in order to make the execution of both tasks adaptable to a specific user. This paper presents the proposed framework, along with experimental results in simulation and on a real wheelchair.
Author	Philips, Johan Vanacker, Gerolf Nuttin, Marnix Vanhooydonck, Dirk Hüntemann, Alexander Van Brussel, Hendrik Demeester, Eric
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Cites_doi	10.1109/100.924355 10.1109/86.808949 10.1109/86.808948 10.1109/ROBOT.2004.1308124 10.1682/JRRD.2004.08.0101 10.1109/IROS.2006.282386 10.1109/100.924358 10.1109/100.924353 10.1109/100.637806 10.1109/72.329697
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References_xml	– volume: 37 start-page: 353 year: 2000 end-page: 360 ident: br000005 article-title: Adequacy of power wheelchair control interfaces for persons with severe disabilities: a clinical survey publication-title: Journal of Rehabilitation Research & Development contributor: fullname: Skaar – volume: 7 start-page: 443 year: 1999 end-page: 451 ident: br000045 article-title: The NavChair assistive wheelchair navigation system publication-title: IEEE Transactions on Rehabilitation Engineering contributor: fullname: Borenstein – volume: 4 start-page: 60 year: 1997 end-page: 70 ident: br000015 article-title: The autonomous mobile robot SENARIO: a sensor-aided intelligent navigation system for powered wheelchairs publication-title: IEEE Robotics & Automation Magazine contributor: fullname: Koutsouris – volume: 8 start-page: 38 year: 2001 end-page: 45 ident: br000025 article-title: A robotic wheelchair for crowded public environments publication-title: Reinventing the Wheelchair 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Snippet	Elderly and disabled people can experience considerable difficulties when driving a powered wheelchair, especially if they do not possess the fine steering...
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SubjectTerms	Adaptability Computer simulation Docking Estimates Implicit user model Intelligent wheelchairs Personalized Shared control Steering Tables Tasks User intention estimation Wheelchairs
Title	Adaptable navigational assistance for intelligent wheelchairs by means of an implicit personalized user model
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