NDLI: Multimodal control of a robotic wheelchair: Using contextual information for usability improvement

Content Provider	IEEE Xplore Digital Library
Author	Escobedo, A. Spalanzani, A. Laugier, C.
Copyright Year	2013
Description	Author affiliation: INRIA Rhone-Alpes, Grenoble, France (Escobedo, A.; Laugier, C.) \|\| LIG, UPMF-Grenoble, Grenoble, France (Spalanzani, A.)
Abstract	In this paper, a method to perform semi-autonomous navigation on a wheelchair is presented. The wheelchair could be controlled in semi-autonomous mode estimating the user's intention by using a face pose recognition system or in manual mode. The estimator was performed within a Bayesian network approach. To switch these two modes, a speech interface was used. The user's intention was modeled as a set of typical destinations visited by the user. The algorithm was implemented to one experimental wheelchair robot. The new application of the wheelchair system with more natural and easy-to-use human machine interfaces was one of the main contributions. as user's habits and points of interest are employed to infer the user's desired destination in a map. Erroneous steering signals coming from the user-machine interface input are filtered out, improving the overall performance of the system. Human aware navigation, path planning and obstacle avoidance are performed by the robotic wheelchair while the user is just concerned with “looking where he wants to go”.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4262
Ending Page	4267
File Size	1357413
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696967
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheelchairs Face Mobile robots Navigation Trajectory Manuals voice control Intention estimation semi-autonomous navigation Bayesian inference wheelchair control face control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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