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Comparing shared control approaches for alternative interfaces: a wheelchair simulator experiment

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. Green open access

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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.

Type: Proceedings paper
Title: Comparing shared control approaches for alternative interfaces: a wheelchair simulator experiment
Event: 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC2017)
Location: Banff, Canada
Dates: 05 October 2017 - 08 October 2017
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/SMC.2017.8122584
Publisher version: https://doi.org/10.1109/SMC.2017.8122584
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, Probabilistic logic, Switches, Trajectory, Robots, Probability distribution, Brain modeling
UCL classification: UCL > Provost and Vice Provost Offices
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
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/1558351
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