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A Survey of Disabled Persons by NSSO (2011) reported that Disability is an important public health problem in India. The wheelchair is topmost used assistive devices for enhancing the personal mobility of disabled people. Power wheelchairs are useful for those unable to propel a manual wheelchair. The disabled people with visual acuity, lack of motor skills and strength find difficult to use a power...
In this work stress is assessed based on EEG features. We focus our efforts on the correlation between subjective ratings and cerebral indices during virtual navigation scenarios. Ten male paraplegic subjects took part in the experiment and navigated in a virtual indoor environment. They had to fulfill two missions where time pressure parameter is introduced. Subjects were equipped with Electroencephalography...
This paper addresses the problem of controlling an electric powered wheelchair in dynamic, crowded areas. Navigating the vehicle effectively in such environmental conditions requires two issues to be considered: Relatively long term prediction of pedestrians' motion and an influence of the vehicle motion on the people behaviour in its vicinity. The purpose of this study is to develop a method that...
Mobility-assistive device such as powered wheelchair is very useful for disabled people, to gain some physical independence. The three main functions of the proposed system are, 1) wheelchair navigation using multiple input, 2) obstacle detection using IR sensors, 3) home automation for disable person. Wheelchair can be navigated through i)voice command or ii) moving head or hand in four fixed position...
Restoration of mobility for the movement impaired is one of the important goals for numerous Brain Computer Interface (BCI) systems. In this study, subjects used a steady state visual evoked potential (SSVEP) based BCI to select a desired destination. The selected destination was communicated to the wheelchair navigation system that controlled the wheelchair autonomously avoiding obstacles on the...
The application background of this paper is in order to facilitate the severe disabled to travel. Aimed at the problems of BCI's bad accuracy, long time delay and low communication rate, the general navigation strategy is put forward for the machine-intelligence aided low speed semi-autonomous outdoor mobile robot. The three layer system architecture, system interactive platform, and the software...
The aim of this paper is to investigate the influence of mental fatigue on Positive 300 (P300) and Steady State Visual Evoked Potentials (SSVEP) during virtual wheelchair navigation. For this purpose, experimental protocols were setup in order to induce mental fatigue, P300 and SSVEP. Next, the correlation between mental fatigue and P300/SSVEP parameters were investigated. At the end, the best correlated...
With the aging of the population and increasing number of disabled people who have mobility impairments, the interest of the research on technology for health and independence represent an importance paramount in present day. In this paper an intelligent wheelchair is developed to help these types of patients using advanced system to control the movement of wheelchair in different directions by monitoring...
In this paper we propose an intelligent wheelchair which can assist physically handicapped, visually impaired as well as elderly people. Elderly and physically challenged people often find themselves unable to do their daily routine work without other's help. In today's fast world where people don't have enough time for others, elderly and physically challenged people need to be independent. Our wheelchair...
Intelligent wheelchairs can become an important solution to assist physically impaired individuals who find it difficult or impossible to drive regular powered wheelchairs. However, when designing the hardware architecture several projects compromise the user comfort and the wheelchair normal usability in order to solve robotic problems. In this paper we describe the main concepts regarding the design...
The development of an intelligent wheelchair (IW) platform that may be easily adapted to any commercial wheelchair and aid any person with special mobility needs is the main objective of this project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several manual, shared and automatic control algorithms were developed...
This paper provides an overview of the sensor network and mounting hardware used to convert a commercially available powered wheelchair into a semi-autonomous wheelchair. Emphasis is placed on modular design and ease of use. Although the sensor packages are used for the semi-autonomous navigation of a powered wheelchair, the sensor network presented has the potential to be used in a number of different...
Mobility is one of the greatest challenges faced by elderly and physically challenged people. The immediate solution to their problem is powered wheelchairs with automatic navigation systems. However, effective low cost automatic navigation systems have not been developed and implemented. We propose a low cost navigation system which incorporates indoor automatic navigation system using LARN Algorithm,...
Physical disability becomes a major obstacle in the lives of physically challenged people and they are deprived of performing even their day-to-day activities without anybody's aid. One of the common problems they face is navigating their own home. So we proposed a system which aids such people to navigate their home or any indoor environment with all ease. Using this system not only can they reach...
In this work, we propose new method beside the classic method, to control the motorized wheelchair using EOG signals. The new method allows the user to look around freely while the wheelchair navigates automatically to the desired goal point. Only EOG signals are used to control the wheelchair, eye gazing and blinking. The user can still choose to control the wheelchair using the classic manual method...
This paper presents a framework for modelling the interaction between a human operator and a robotic device, that enables the robot to collaborate with the human to jointly accomplish tasks. States of the system are captured in a model based on a partially observable Markov decision process (POMDP). States representing the human operator are motivated by behaviours from the psychology of the human...
This paper presents interaction between a user and a smart electric wheelchair. We propose a personal mobility tool (PMT) which integrates autonomous mobile robot navigation technology with intuitive and cognitive interaction between a user and a smart wheelchair. An intuitive and noncontinuous input method to enable a user to specify a direction in which he/she wants to go is proposed. Also, to help...
Assistive technologies to support a self-determined living of elderly people receive growing attention due to the aging populations. In this context robotic and sensorics approaches can balance handicaps to improve safe mobility approaches. By telematic methods health data can be transmitted to enable a continuous monitoring of endangered people in their home or while being on their way. Thus assistant...
The objective of the work partially described in this paper is to reduce the situation of handicap of a person by enabling him/her to access (and/or to recover) some levels of autonomy thanks to a safe electric wheelchair. The problems concern the driving of this complex help by an operator whose capacities are reduced by the handicap in co-operation with the system. It is thus necessary to devise...
Wheelchair is a main assistant vehicle for the disable, which is classified into two types by source of power, manual operation and electric operation. With the developments of micro electronic technology, human-machine interface and intelligent wheelchair, traditional wheelchair has become more and more intelligent. This paper presents the research status of intelligent wheelchair abroad, describes...
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