UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Assisting power wheelchair driving on a sidewalk: A proof of concept

Devigne, L; Pasteau, F; Le Borgne, N; Babel, M; Carlson, T; Gallien, P; (2018) Assisting power wheelchair driving on a sidewalk: A proof of concept. Modelling, Measurement and Control C , 79 (4) pp. 185-189. 10.18280/mmc_c.790406. Green open access

[thumbnail of 79.04_06.pdf]
Preview
Text
79.04_06.pdf - Published version

Download (1MB) | Preview

Abstract

The use of a power wheelchair allows to maintain mobility by providing better access to daily activities and thus positive impact on the quality of life. However, driving a power wheelchair is a complex task, particularly within an environment consisting of negative obstacles (e.g. steps, sidewalk edges). In this context, falling accidents can occur while driving a power wheelchair on a sidewalk. Therefore, driving assistance is required to prevent from falling off a curb edge. In order to meet these expectations, we here propose a semi-autonomous shared control framework assisting the user while driving on a sidewalk. We present simulations as well as an experiment carried out with our system embedded on a standard wheelchair. In both cases, our method allows progressive velocity adaptation when approaching a curb edge resulting in the wheelchair avoiding the risk of falling. The obtained results thus provide a proof of concept of our method.

Type: Article
Title: Assisting power wheelchair driving on a sidewalk: A proof of concept
Open access status: An open access version is available from UCL Discovery
DOI: 10.18280/mmc_c.790406
Publisher version: http://www.iieta.org/Journals/MMC/MMC_C/Current%20...
Language: English
Additional information: This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Power wheelchair, driving assistance, sensor-based control, powered mobility, negative obstacles
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
URI: https://discovery.ucl.ac.uk/id/eprint/10074210
Downloads since deposit
96Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item