NDLI: Guidance for human navigation using a vibro-tactile belt interface and robot-like motion planning

Content Provider	IEEE Xplore Digital Library
Author	Cosgun, A. Sisbot, E.A. Christensen, H.I.
Copyright Year	2014
Description	Author affiliation: Georgia Inst. of Technol., Atlanta, GA, USA (Cosgun, A.; Christensen, H.I.) \|\| Toyota InfoTechnology Center, Mountain View, CA, USA (Sisbot, E.A.)
Abstract	We present a navigation guidance system that guides a human to a goal point with a tactile belt interface and a stationary laser scanner. We make use of ROS local navigation planner to find an obstacle-free path by modeling the human as a non-holonomic robot. Linear and angular velocities to keep the `robot' on the path are dynamically calculated, which are then converted to vibrations and applied by the tactile belt. We define directional and rotational vibration patterns and evaluate which ones are suitable for guiding humans. Continuous patterns for representing directions had the least average angular error with 8.4°, whereas rotational patterns were recognized with near-perfect accuracy. All patterns had a reaction time slightly more than 1 seconds. The person is tracked in laser scans by fitting an ellipse to the torso. Average tracking error is found to be 5cm in position and 14° in orientation in our experiments with 23 people. Best tracking results was achieved when the person is 2.5m away and is facing the sensor or the opposite way. The human control system as a whole is successfully demonstrated in a navigation guidance scenario.
Starting Page	6350
Ending Page	6355
File Size	3449523
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907796
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Belts Navigation Robot sensing systems Tracking Lasers
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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