Download Collaborative Assistive Robot for Mobility Enhancement by Cristina Urdiales PDF

By Cristina Urdiales

In these days getting older society, many folks require mobility tips. occasionally, assistive units desire a sure measure of autonomy whilst clients' disabilities tough guide keep watch over. notwithstanding, clinicians record that over the top advice could lead to lack of residual talents and frustration. Shared keep watch over specializes in finding out while clients need assistance and supplying it. Collaborative keep watch over goals at giving simply the correct amount of assist in a clear, seamless manner.

This ebook offers the collaborative keep an eye on paradigm. consumer functionality can be indicative of physical/cognitive situation, so it truly is used to determine how a lot assistance is wanted. along with, collaborative keep an eye on integrates laptop and consumer instructions in order that humans give a contribution to self-motion in any respect times.

Collaborative regulate was once commonly established for three years utilizing a robotized wheelchair at a rehabilitation health facility in Rome with volunteer inpatients featuring diverse disabilities, starting from light to critical. We additionally current a taxonomy of universal metrics for wheelchair navigation and exams are evaluated therefore. acquired effects are coherent either from a quantitative and qualitative aspect of view.

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Additional info for Collaborative Assistive Robot for Mobility Enhancement (CARMEN): The bare necessities: assisted wheelchair navigation and beyond

Sample text

Furthermore, unvisited places are never included in the representation, so it is not possible to produce paths through unexplored places. g. Fig. 7). Top-down approaches like the Spatial Semantical Hierarchy rely on annotating topological maps with metrical information for later dissambiguation. Bottom-up 30 2 A Dummy’s Guide to Assistive Navigation Devices Fig. 7 Hybrid maps: a) geometrical map (occupancy grid); b) corresponding topological map (hybrid pyramid). approaches like Voronoi diagrams rely instead of extracting a graph from a metrical representation via a partition algorithm.

Thus, space becomes a graph. Arc weights are related to the difficulty of travelling between the nodes they connect, in terms of distance, slope, obstacle density, etc. ), etc. A typical representation of this kind are Visibility Graphs, where each node or vertex in the graph represents a point location, and each edge represents a visible connection between them [134]. Yet, there are many different approaches, like Roadmaps, where graphs are built by approximating allowed movement in the environment [89].

Eye tracking, for example, tries to estimate where the person is looking in order to move in that direction. Some eye tracking mechanisms are based on capturing video of the person’s face to check for the position of the cornea, either with natural light or structured illumination [43]. Other systems, like EagleEyes, rely on electrodes to measure the Electro-Oculographic Potential (EOG), which corresponds to the angle of the eyes in the head [191, 186]. Electromiographic sensors use probes to capture muscular activity.

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