Ezeh, C;
Trautman, P;
Holloway, C;
Carlson, T;
(2017)
Comparing shared control approaches for alternative interfaces: a wheelchair simulator experiment.
In:
Proceedings of the 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC).
(pp. pp. 93-98).
IEEE: Banff, Canada.
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Abstract
Independent mobility is important for the self-esteem and well-being of people with mobility impairments. For people with severe disabilities, there is a body of research investigating how best to share control of motion between a person with disabilities and a "smart wheelchair". Traditionally in "shared control", the control law is a linear combination of the human's intended velocity and the path planner's velocity. However, this formulation of sharing control between a human and a machine does not guarantee safety on a theoretical level. To guarantee safety in formulating the blending of the human's input velocity and planner's velocity, we implement a practical form of probabilistic shared control formulated by Trautman. We tested this shared control by conducting experiments in a simulation where participants drive a wheelchair. The results of the experiment suggest probabilistic shared control has similar performance to linear blending in terms of significant reduction in number of collisions. However, for the sip-puff switch (a particularly difficult interface to use), probabilistic shared control yielded a greater reduction in collisions than linear blending.
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