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Traded and combined cooperative control of a smart wheelchair

Published online by Cambridge University Press:  07 January 2022

Youssef Ech-Choudany Open the ORCID record for Youssef Ech-Choudany [Opens in a new window] ,
Régis Grasse ,
Romuald Stock ,
Odile Horn  and
Guy Bourhis
Youssef Ech-Choudany*
Affiliation:
LCOMS, Université de Lorraine, ISEA, 7 rue Marconi, 57070 Metz, France
Régis Grasse
Affiliation:
LCOMS, Université de Lorraine, ISEA, 7 rue Marconi, 57070 Metz, France
Romuald Stock
Affiliation:
LCOMS, Université de Lorraine, ISEA, 7 rue Marconi, 57070 Metz, France
Odile Horn
Affiliation:
LCOMS, Université de Lorraine, ISEA, 7 rue Marconi, 57070 Metz, France
Guy Bourhis
Affiliation:
LCOMS, Université de Lorraine, ISEA, 7 rue Marconi, 57070 Metz, France
*
*Corresponding author. E-mail: [email protected]
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Abstract

This article deals with a human–machine cooperative system for the control of a smart wheelchair for people with motor disabilities. The choice of a traded control mode is first argued. The paper then pursues two objectives. The first is to describe the design of the cooperative system by focusing on the dialogue and the interaction between the pilot and the robot. The second objective is to introduce a new cooperative mode. In this one, three features are proposed: two semi-autonomous features, a wall following and a doorway crossing, during which the user can intervene punctually to rectify a trajectory or a path, and an assisted mode where, conversely, the machine intervenes in a manual control to avoid obstacles. This mode of intervention of an entity, human or machine, supervising a movement controlled by the other is referred as “combined control.” Examples of scenarios exploiting the cooperative capabilities of the system are presented and discussed.

Keywords

smart wheelchairhuman–machine cooperationtraded controlcombined control
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2630 - 2650
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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