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Probabilistic vs linear blending approaches to shared control for wheelchair driving

Ezeh, C; Trautman, P; Devigne, L; Bureau, V; Babel, M; Carlson, T; (2017) Probabilistic vs linear blending approaches to shared control for wheelchair driving. In: Proceedings of the 15th International Conference on Rehabilitation Robotics (ICORR). (pp. pp. 835-840). IEEE: London, UK. Green open access

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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.

Type: Proceedings paper
Title: Probabilistic vs linear blending approaches to shared control for wheelchair driving
Event: 15th IEEE International conference on rehabilitation robotics
Location: London, UK
Dates: 17 July 2017 - 20 July 2017
ISBN-13: 978-1-5386-2297-1
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ICORR.2017.8009352
Publisher version: http://dx.doi.org/10.1109/ICORR.2017.8009352
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: Wheelchairs, Trajectory, Robot sensing systems, Probabilistic logic, Sonar, Probability distribution, Zirconium
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/1554760
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