TY - JOUR
T1 - Egocentric Computer Vision for Hands-Free Robotic Wheelchair Navigation
AU - Kutbi, Mohammed
AU - Li, Haoxiang
AU - Chang, Yizhe
AU - Sun, Bo
AU - Li, Xin
AU - Cai, Changjiang
AU - Agadakos, Nikolaos
AU - Hua, Gang
AU - Mordohai, Philippos
N1 - Publisher Copyright:
© 2023, The Author(s).
PY - 2023/1
Y1 - 2023/1
N2 - In this paper, we present an approach for navigating a robotic wheelchair that provides users with multiple levels of autonomy and navigation capabilities to fit their individual needs and preferences. We focus on three main aspects: (i) egocentric computer vision based motion control to provide a natural human-robot interface to wheelchair users with impaired hand usage; (ii) techniques that enable user to initiate autonomous navigation to a location, object or person without use of the hands; and (iii) a framework that learns to navigate the wheelchair according to its user’s, often subjective, criteria and preferences. These contributions are evaluated qualitatively and quantitatively in user studies with several subjects demonstrating their effectiveness. These studies have been conducted with healthy subjects, but they still indicate that clinical tests of the proposed technology can be initiated.
AB - In this paper, we present an approach for navigating a robotic wheelchair that provides users with multiple levels of autonomy and navigation capabilities to fit their individual needs and preferences. We focus on three main aspects: (i) egocentric computer vision based motion control to provide a natural human-robot interface to wheelchair users with impaired hand usage; (ii) techniques that enable user to initiate autonomous navigation to a location, object or person without use of the hands; and (iii) a framework that learns to navigate the wheelchair according to its user’s, often subjective, criteria and preferences. These contributions are evaluated qualitatively and quantitatively in user studies with several subjects demonstrating their effectiveness. These studies have been conducted with healthy subjects, but they still indicate that clinical tests of the proposed technology can be initiated.
KW - Assistive technology
KW - Egocentric camera
KW - Robotic wheelchair
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U2 - 10.1007/s10846-023-01807-4
DO - 10.1007/s10846-023-01807-4
M3 - Article
AN - SCOPUS:85146259258
SN - 0921-0296
VL - 107
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 1
M1 - 10
ER -