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Robotic wheelchair controlled through a vision-based interface

Published online by Cambridge University Press:  08 August 2011

Elisa Perez ,
Carlos Soria ,
Oscar Nasisi ,
Teodiano Freire Bastos  and
Vicente Mut
Elisa Perez*
Affiliation:
Gabinete de Tecnología Médica, Facultad de Ingeniería, Universidad Nacional de San Juan, Argentina
Carlos Soria
Affiliation:
Instituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, Argentina
Oscar Nasisi
Affiliation:
Instituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, Argentina
Teodiano Freire Bastos
Affiliation:
Centro Tecnológico, Universidade Federal do Espírito Santo, Brazil
Vicente Mut
Affiliation:
Instituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, Argentina
*
*Corresponding author. E-mail: eperez@gateme.unsj.edu.ar
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Summary

In this work, a vision-based control interface for commanding a robotic wheelchair is presented. The interface estimates the orientation angles of the user's head and it translates these parameters in command of maneuvers for different devices. The performance of the proposed interface is evaluated both in static experiments as well as when it is applied in commanding the robotic wheelchair. The interface calculates the orientation angles and it translates the parameters as the reference inputs to the robotic wheelchair. Control architecture based on the dynamic model of the wheelchair is implemented in order to achieve safety navigation. Experimental results of the interface performance and the wheelchair navigation are presented.

Keywords

Assistive robotsService robotsComputer visionMobile robotsNavigation
Type
Articles
Information
Robotica , Volume 30 , Issue 5 , September 2012 , pp. 691 - 708
Copyright
Copyright © Cambridge University Press 2011

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