Haptic Feedback Control of a Smart Wheelchair

Autor: Hadj-Abdelkader, Mohammed-Amine, Bourhis, Guy, Cherki, Brahim
Přispěvatelé: Laboratoire d'automatique humaine et sciences comportementales (LASC), Université Paul Verlaine - Metz (UPVM), Laboratoire d'Automatique de Tlemcen (LAT), Université Aboubekr Belkaid - University of Belkaïd Abou Bekr [Tlemcen], Laboratoire de Conception, Optimisation et Modélisation des Systèmes (LCOMS), Université de Lorraine (UL), Tlemcen Automatics Laboratory
Rok vydání: 2012
Předmět:
Zdroj: Applied Bionics and Biomechanics
Applied Bionics and Biomechanics, Hindawi, 2012
Applied Bionics and Biomechanics, Vol 9, Iss 2, Pp 181-192 (2012)
ISSN: 1754-2103
1176-2322
DOI: 10.1155/2012/921982
Popis: The haptic feedback, which is natural in assistive devices intended for visually impaired persons, has been only recently explored for people with motor disability. The aim of this work is to study its potential, particularly for assistance in the driving of powered wheelchairs. After a review of the literature for the previous related work, we present the methodology and the implementation procedure of a haptic feedback control system on a prototype of a smart wheelchair. We will also describe the approaches utilized to determine the appropriate force feedback that will ensure a cooperative behaviour of the system, and we will detail the two haptic driving modes that were developed, namely the active and passive modes. Experiments on a real prototype were carried out to study the contribution of the method in powered wheelchair driving and to evaluate the interest of the force feedback on the control joystick of the wheelchair. They are discussed on the basis of performance measures. Applied Bionics and Biomechanics Journal, Volume 9, Number 2, pp. 181-192, DOI :10.3233/ABB-2012-0067, 2012.
Databáze: OpenAIRE
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