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Tackling the Duality of Obstacles and Targets in Shared Control Systems: A Smart Wheelchair Table-Docking Example

Arditti, Samuel; Habert, Félix; Saracbasi, Ozge Ozlem; Walker, George; Carlson, Tom; (2024) Tackling the Duality of Obstacles and Targets in Shared Control Systems: A Smart Wheelchair Table-Docking Example. In: 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC). (pp. pp. 1-6). IEEE: Honolulu, Oahu, HI, USA. Green open access

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Abstract

Many studies have shown that a smart wheelchair could improve the quality of life of people with restricted mobility by providing them with more freedom in the daily activities they can undertake independently. In addition to enhancing independent mobility, it is important to ensure safety for wheelchair users and those around them. To date, previous studies have mostly focused on (semi-)autonomous navigation or obstacle avoidance. By contrast, in this study, we tackle the challenging, but important problem of safely docking to tables. We propose a robotic navigation assistance, applied to electric powered wheelchairs using Time-of-Flight (ToF) sensors to facilitate table-docking for users. To meet this objective, we designed a low-cost sensor system that was integrated into our smart wheelchair prototype, which can detect a table and accurately estimate its height. We then developed a robust algorithm to deliver the manoeuvring assistance. First, we simulated the smart wheelchair system within Unity3D to find the best positions for the ToF sensors and evaluate the accuracy of the docking system, employing different table styles. Then, we experimentally validate the system on our physical wheelchair, using varying angles of approach, which demonstrate its feasibility.

Type: Proceedings paper
Title: Tackling the Duality of Obstacles and Targets in Shared Control Systems: A Smart Wheelchair Table-Docking Example
Event: 2023 IEEE Conference on Systems, Man, and Cybernetics (SMC)
Location: Maui, Hawai’i
Dates: 1 Oct 2023 - 4 Oct 2023
ISBN-13: 979-8-3503-3702-0
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/SMC53992.2023.10393886
Publisher version: https://doi.org/10.1109/SMC53992.2023.10393886
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Navigation; Wheelchairs; Robot sensing systems; Sensor systems; Safety; Trajectory; Intelligent sensors
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/10172120
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