碩士 / 輔仁大學 / 電機工程學系碩士班 / 102 / People with cognitive disabilities and mobility impairment may require the assistance provided from robotization to operate a powered wheelchair. According to the report of medical expert, it is also important to provide just the proper amount of assistance instead of an excess of assistance which easily leads to loss of residual skills. In this thesis, a collaborative wheelchair assistant is proposed to allow cooperation between humans and robots at some specific situations. First, the control system incorporates an automatic wall-following that can drive the wheelchair to avoid obstacles even in unknown and dynamic scenarios. Next, the control system can infer the user’s intentions by detecting the hand-tilt motions, and translating them to user-defined commands. A wearable interface circuitry with wireless transmission technology as well as discrete motion control strategy is developed as an alternative control input which is integrated for wheeled mobility with a high degree of autonomy independent from predefined conditions and restricted environments. Subsequently, the designed collaborative control system is designed based on weighting the user’s and the robot’s commands by their respective efficiency to reactively obtain a shared controller which allows the user to make some navigation decisions. In addition, the collaborative control system, at some specific locations of given trajectory, can evaluate the efficiencies of the user and the robot with the associated weight. Thereafter, the system combines their commands into a single order for the changing amount of support behavior in the wheelchair navigation. To achieve a seamless combination, the design procedure is integrated into a bottom-up architecture via a reactive layer. From a quantitative and qualitative point of view, the experiments have demonstrated that several volunteers could use our robotic wheelchair in a more efficient way due to the proposed collaborative control strategy.
| Identifer | oai:union.ndltd.org:TW/102FJU00428003 |
| Date | January 2014 |
| Creators | Tsu-Jen Hung, 洪祖壬 |
| Contributors | Hsin-Han Chiang, 蔣欣翰 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 71 |
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