Probabilistic vs linear blending approaches to shared control for wheelchair driving.
IEEE Int Conf Rehabil Robot
; 2017: 835-840, 2017 07.
Article
en En
| MEDLINE
| ID: mdl-28813924
ABSTRACT
Some people with severe mobility impairments are unable to operate powered wheelchairs reliably and effectively, using commercially available interfaces. This has sparked a body of research into "smart wheelchairs", which assist users to drive safely and create opportunities for them to use alternative interfaces. Various "shared control" techniques have been proposed to provide an appropriate level of assistance that is satisfactory and acceptable to the user. Most shared control techniques employ a traditional strategy called linear blending (LB), where the user's commands and wheelchair's autonomous commands are combined in some proportion. In this paper, however, we implement a more generalised form of shared control called probabilistic shared control (PSC). This probabilistic formulation improves the accuracy of modelling the interaction between the user and the wheelchair by taking into account uncertainty in the interaction. In this paper, we demonstrate the practical success of PSC over LB in terms of safety, particularly for novice users.
Texto completo:
1
Banco de datos:
MEDLINE
Asunto principal:
Dispositivos de Autoayuda
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Silla de Ruedas
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Inteligencia Artificial
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Modelos Estadísticos
Tipo de estudio:
Risk_factors_studies
Límite:
Adolescent
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Adult
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Female
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Humans
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Male
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Middle aged
Idioma:
En
Revista:
IEEE Int Conf Rehabil Robot
Año:
2017
Tipo del documento:
Article