Human Robot Interaction: Application to Smart Wheelchairs

摘要

This paper addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Specifically, we focus on (a) the vision-based human interaction interface; (b) the suite of sensors on the chair; and (c) the software architecture and the control algorithms used to control the chair.