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Electric Wheelchair Navigation Simulators: why, when, how? [chapter]

Patrick Abellard, Iadaloharivola Randria, Alexandre Abellard, Mohamed Moncef Ben Khelifa, Pascal Ramanantsizehe
2010 Mechatronic Systems Applications  
This simulator is used to train someone to efficiently control a wheelchair in a sure virtual environment, under supervising of a therapist.  ...  VEMS (Virtual Environment Mobility Simulator): Limerick University, Ireland VEMS stands for Virtual Environment Mobility Simulator.  ...  Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles.  ... 
doi:10.5772/8927 fatcat:au5xkn6nozdrlov6kdcq3g7dnq

Design of an immersive simulator for assisted power wheelchair driving

Louise Devigne, Marie Babel, Florian Nouviale, Vishnu K. Narayanan, Francois Pasteau, Philippe Gallien
2017 2017 International Conference on Rehabilitation Robotics (ICORR)  
The simulation framework is designed to be flexible so that we can use different control inputs.  ...  In this paper, we introduce a power wheelchair driving simulator allowing the user to navigate with a standard wheelchair in an immersive 3D Virtual Environment.  ...  Also we would like to thank Manutea Huang, Aline Baudry, Valentin Bureau and Nicolas Le Borgne from INSA Rennes who were of great help during the development process and experiments.  ... 
doi:10.1109/icorr.2017.8009379 pmid:28813951 dblp:conf/icorr/DevigneBNNPG17 fatcat:dxwb7q7s5jdg7d33jg2wmp4h2a

Design of a Haptic Guidance Solution for Assisted Power Wheelchair Navigation

Louise Devigne, Francois Pasteau, Marie Babel, Vishnu K. Narayanan, Sylvain Guegan, Philippe Gallien
2018 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
Design of a haptic guidance solution for assisted power wheelchair navigation.  ...  This work is carried out as part of the IN-TERREG VA FMA ADAPT project " Assistive Devices for empowering disAbled People through robotic Technologies".  ...  ACKNOWLEDGEMENT The authors would like to thankÉric Bazin, Valentin Bureau and Nicolas Le Borgne from INSA Rennes who were of great help during the development process and experiments.  ... 
doi:10.1109/smc.2018.00547 dblp:conf/smc/DevignePBNGG18 fatcat:dwks76ajvffmnpw7facuaih7ke

Design and Implementation of Hardware Modelling of Embedded Car Using Arm at 89S51 Processor

K. Delhi Prasad, S. Senthil
2014 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering  
of this environment are made in a virtual simulator for mobile robots.  ...  This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, which are capable of operating and adapting in different  ...  For this, a generic platform for a robotic mobile system and a wheelchair, seeking to obtain a support tool for under-graduation and graduation activities was used to validate the results.  ... 
doi:10.15662/ijareeie.2014.0309039 fatcat:demt2yahdfe5dcup5ibcfeqvya

Modeling and Simulating Ambient Assisted Living Environments – A Case Study [chapter]

Tim Laue, Christoph Stahl
2010 Advances in Intelligent and Soft Computing  
Afterwards, the desired configuration becomes exported to SimRobot, a robot simulator based on rigid body dynamics.  ...  In this paper, we describe a two-staged example for such a task by connecting two different applications: In the first step, the YAMAMOTO toolkit is used to efficiently model the building structure and  ...  Conclusion and Future Works In this paper, we showed how the design of a complex environment such as an Ambient Assisted Living lab interacting with a mobility assistant can be modeled and evaluated using  ... 
doi:10.1007/978-3-642-13268-1_30 dblp:conf/isami/LaueS10 fatcat:dj74uz6ljzcnpkxubos3gewluy

Smart Powered Wheelchair Platform Design and control for People with Severe Disabilities

Youcef Touati, Arab Ali-Cherif
2012 Software Engineering  
The control arch itecture uses virtual impedance principle and is based on some considerations concerning external force-feedback joystick abilities to translate variations of distances between the wheelchair  ...  To test the effectiveness and evaluate performances of the proposed control architecture, some simulat ions and experimentations on a smart wheelchair called LIASD-WheelChair, are designed in this respect  ...  and technical collaboration.  ... 
doi:10.5923/ fatcat:4jzv7dbxija2jnrig5roaoeyg4

IntellWheels: Modular development platform for intelligent wheelchairs

Rodrigo Antonio Marques Braga, Marcelo Petry, Luis Paulo Reis, Antnio Paulo Moreira
2011 Journal of rehabilitation research and development  
Intelligent wheelchairs (IWs) can become an important solution to the challenge of assisting individuals who have disabilities and are thus unable to perform their daily activities using classic powered  ...  Furthermore, the results achieved with a prototype running in autonomous mode in simulated and mixed-reality environments also demonstrate the potential of our approach.  ...  Using a robotic agent, we connected a virtual wheelchair to the simulator and executed the t est of automatic door opening.  ... 
doi:10.1682/jrrd.2010.08.0139 fatcat:uqg6zd44ajgkjkp347lf3g6rk4

Head-Mounted Augmented Reality for Explainable Robotic Wheelchair Assistance

Mark Zolotas, Joshua Elsdon, Yiannis Demiris
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Robotic wheelchairs with built-in assistive features, such as shared control, are an emerging means of providing independent mobility to severely disabled individuals.  ...  Motivated by the desire to help users bridge this gap in perception, we propose a novel augmented reality system using a Microsoft Hololens as a head-mounted aid for wheelchair navigation.  ...  Virtual reality HMDs have recently garnered attention as apt training simulators for off-line learning of wheelchair control [12] [13] [14] .  ... 
doi:10.1109/iros.2018.8594002 dblp:conf/iros/ZolotasED18 fatcat:6uyjobw2jnezjjgwoiemlhsove

Improvement of RISE Mobile Robot Operator Training Tool [chapter]

Janusz Bedkowski, Andrzej Masowski
2011 Mobile Robots - Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training  
Improvement of RISE Mobile Robot Operator Training Tool, Mobile Robots -Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training, Dr.  ...  Interfacing, Navigation, Multi Robot Motion Planning and Operator Training Improvement of RISE Mobile Robot Operator Training Tool 380 Mobile Robots -Control Architectures, Bio-7  ... 
doi:10.5772/27747 fatcat:2w6xzhetzbcibhzl4gjn3pwmf4

An Approach to Socially Compliant Leader Following for Mobile Robots [chapter]

Markus Kuderer, Wolfram Burgard
2014 Lecture Notes in Computer Science  
Most of these approaches use local control methods to keep the robot at the desired position.  ...  Mobile robots are envisioned to provide more and more services in a shared environment with humans.  ...  Acknowledgements This work has been partially supported by the EC under contract numbers ERC-267686-LifeNav, and FP7-610603-EUROPA2. Bibliography  ... 
doi:10.1007/978-3-319-11973-1_24 fatcat:rpvvaxvk4bhizfinm5pqnzt5qi

User-centered design of a multisensory power wheelchair simulator: towards training and rehabilitation applications

Guillaume Vailland, Fabien Grzeskowiak, Louise Devigne, Yoren Gaffary, Bastien Fraudet, Emilie Leblong, Florian Nouviale, Francois Pasteau, Ronan Le Breton, Sylvain Guegan, Valerie Gouranton, Bruno Arnaldi (+1 others)
2019 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)  
In line with this, we propose a user-centered design of a multisensory power wheelchair simulator.  ...  In this context, Virtual Reality offers the opportunity to design innovative learning and training programs while providing realistic wheelchair driving experience within a virtual environment.  ...  This work is carried out as part of the INTERREG VA FMA ADAPT project funded by the European Regional Development Fund (ERDF), and is partially funded by the Crowdbot Project, a European Union Horizon  ... 
doi:10.1109/icorr.2019.8779496 pmid:31374610 fatcat:fbz4cloxynf2zkrbgxtullh4uq

Low complex sensor-based shared control for power wheelchair navigation

Louise Devigne, Vishnu K. Narayanan, Francois Pasteau, Marie Babel
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This control law is based on a low complex optimization framework validated through simulations and extensive clinical trials. The provided model uses distance information.  ...  Therefore, for low-cost considerations, we use ultrasonic sensors to measure the distances around the wheelchair.  ...  ACKNOWLEDGEMENT The authors would like to thankÉric Bazin and Sylvain Guégan from INSA Rennes, Amélie Colin and Sophie Achille-Fauveau from Healthcare Network Breizh PC and Philippe Gallien, Benoît Nicolas  ... 
doi:10.1109/iros.2016.7759799 dblp:conf/iros/DevigneNPB16 fatcat:ofysuvf4tjdnvlsye3fj2dblam

Augmenting robot intelligence via EEG signals to avoid trajectory planning mistakes of a smart wheelchair

Francesco Ferracuti, Alessandro Freddi, Sabrina Iarlori, Sauro Longhi, Andrea Monteriù, Camillo Porcaro
2021 Journal of Ambient Intelligence and Humanized Computing  
The framework has been preliminarily tested by using a wheelchair simulator implemented in ROS and Gazebo environments: EEG signals from a benchmark known in the literature were classified, passed to a  ...  custom simulation node, and made available to the navigation stack to perform obstacle avoidance.  ...  Acknowledgements The authors would like to thank Daniele Polucci for his support in the data analysis, and Omer Karameldeen Ibrahim Mohamed for his support in the ROS programming.  ... 
doi:10.1007/s12652-021-03286-7 fatcat:f4vxsrifw5fcrptblxoue3equy

A Flexible Architecture for Navigation Control of a Mobile Robot

Harry Chia-Hung Hsu, Alan Liu
2007 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
In order to improve the flexibility, we use the concept of a software mobile agent to design an architecture called Virtual Operator MultiAgent System (VOMAS).  ...  In VOMAS, intelligent agents, called a virtual operator (VO) and a robot agent (RA), work together to control a robot to fulfill a specific task.  ...  Hwang for providing the hardware support for the mobile robot. Helpful comments from the editors and the reviewers are also acknowledged.  ... 
doi:10.1109/tsmca.2007.893460 fatcat:jtdiwzkryvezhpktxzyi6afj54

Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

Emna Baklouti, Nader Ben Amor, Mohammed Jallouli
2016 Automatika  
To command the mobile robot to the target, we use a Fuzzy Logic Controller (FLC). For obstacle avoidance, we use the Kinect Xbox 360 to provide an actual map of the environment.  ...  Simulations and real world experiments results are reported to show the feasibility and the performance of the proposed control system.  ...  To command the wheelchair navigation wheels autonomously, we use one of the most common strategies for the mobile robot navigation which are Fuzzy Logic Controllers (FLCs) [15] .  ... 
doi:10.7305/automatika.2017.02.1421 fatcat:htf5xsnhe5drnprw6wk475u6n4
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