Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics

Elisa Perez, Natalia López, Eugenio Orosco, Carlos Soria, Vicente Mut, Teodiano Freire-Bastos
2013 The Scientific World Journal  
This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user's head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user's head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four
more » ... duals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.
doi:10.1155/2013/589636 pmid:24453877 pmcid:PMC3888755 fatcat:o3y5sr22kfgc5n4uexmdwpvuga