NDLI: A multi-stage shared control method for an intelligent mobility assistant

Content Provider	IEEE Xplore Digital Library
Author	McLachlan, S. Arblaster, J. Liu, O.K. Miro, J.V. Chenoweth, L.
Copyright Year	2005
Description	Author affiliation: Univ. of Technol., Sydney, NSW, Australia (McLachlan, S.; Arblaster, J.)
Abstract	This paper presents a multi-stage shared control method (MSSC) which can be used to control the movement of a robotic mobility assistant designed to facilitate safe mobilization for people with unstable gait. The multi-stage control module consists of user intent, obstacle avoidance and fuzzy logic components. The user intent represents the person's commands. The obstacle avoidance component reads data representing any obstacles in the vicinity of the assistant and uses the vector field histogram (VFH) algorithm to select a suitable path to avoid any obstacles in the path of travel. The fuzzy logic component is responsible for merging the user intent and obstacle avoidance information such that the user's request is satisfied to the highest extent possible. When an unsafe situation presents itself the user's request(s) would be partially or wholly overridden so the assistant can return to a safe state. The system has been designed to be dynamically configurable so as to suit different users in terms of gait stability and strength, preferred speed of travel and level of control over the system. It has been tested both in a simulated environment and real-world operating conditions and has been shown to effectively avoid obstacles with minimal disruption to the user and their intent.
Starting Page	426
Ending Page	429
File Size	333998
Page Count	4
File Format	PDF
ISBN	0780390032
DOI	10.1109/ICORR.2005.1501134
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Fuzzy logic Stability Medical control systems Prototypes Automatic control Control systems Australia Mobile robots Robotics and automation
Content Type	Text
Resource Type	Article

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