Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Design rules based on analyses of human error
Communications of the ACM
Adjustable autonomy in real-world multi-agent environments
Proceedings of the fifth international conference on Autonomous agents
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
The Vahm Robotized Wheelchair: System Architecture and Human-Machine Interaction
Journal of Intelligent and Robotic Systems
Progress on the Deictically Controlled Wheelchair
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
Assistive Robotics: An Overview
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
Wheelesley: A Robotic Wheelchair System: Indoor Navigation and User Interface
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
NavChair: An Assistive Wheelchair Navigation System with Automatic Adaptation
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
Developing Intelligent Wheelchairs for the Handicapped
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
Agent Autonomy
Beyond usability evaluation: analysis of human-robot interaction at a major robotics competition
Human-Computer Interaction
Integrating reaction plans and layered competences through synchronous control
IJCAI'91 Proceedings of the 12th international joint conference on Artificial intelligence - Volume 2
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Human-robot interaction in rescue robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Improvement of visual perceptual capabilities by feedback structures for robotic system FRIEND
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Modeling and constraining human interactions in shared controlutilizing a discrete event framework
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Shared understanding for collaborative control
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
The bare necessities: Adaptive assistance for wheelchair control
AI Communications
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In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability.Robot wheelchairs, though, are not supposed to be completely in control because lack of human intervention may lead to loss of residual capabilities and frustration. Most of these systems rely on shared control, which typically consists of swapping control from human to robot when needed. However, this means that persons never deal with situations they find difficult. We propose a new shared control approach to allow constant cooperation between humans and robots, so that assistance may be adapted to the user's skills. Our proposal is based on the reactive navigation paradigm, where robot and human commands become different goals in a Potential Field. Our main novelty is that human and robot attractors are weighted by their respective local efficiencies at each time instant. This produces an emergent behavior that combines both inputs in an efficient, safe and smooth way and is dynamically adapted to the user's needs. The proposed control scheme has been successfully tested at hospital Fondazione Santa Lucia (FSL) in Rome with several volunteers presenting different disabilities.