Mobile robotics and mobility assistance for people with motor impairments: rational justification for the VAHM project
- 1 March 1996
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Rehabilitation Engineering
- Vol. 4 (1), 7-12
- https://doi.org/10.1109/86.486052
Abstract
The VAHM project aims to improve the control of powered wheelchairs by adding possibilities of autonomous mobility. We propose specifications which are based on a detailed study of similar projects described in specialized publications. Three operating modes are defined in order to adapt the system to a great diversity of situations. In the autonomous mode a global trajectory is planned, and the user then intervenes to point the goal and, if need be, stop a motion during its execution. The assisted manual mode allows access to local primitives like a wall following. Finally, in the manual mode, we find the classical control of a powered wheelchair again. The first results of the technical evaluation are discussed in the conclusion.Keywords
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