Abstract
This article presents the development of an autonomous control system of an electric standing wheelchair for people with amyotrophic lateral sclerosis. The proposed control scheme is based on the autonomous maneuverability of the standing wheelchair, for which a path planner is implemented to which the desired 3D position is defined through the eye-tracking sensor. The eye-tracking is implemented in a virtual reality environment which allows selecting the desired position of the standing wheelchair. The wheelchair has a standing system that allows the user to position himself on the Z axis according to his needs independently of the displacement in the X-Y plane with respect to the inertial reference system <R>. To verify the performance of the proposed control scheme, several experimental tests are carried out.
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Acknowledgments
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia – CEDIA for the financing given to research, development, and innovation, through the CEPRA projects; furthermore to Department of Electronic Engineering and Communications of the University of Zaragoza, Spain, and to Grupo de Investigación en Automatización, Robótica y Sistemas Inteligentes, GI-ARSI of the Universidad de las Fuerzas Armadas ESPE, for the support to develop this paper.
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Ortiz, J.S., Palacios-Navarro, G., Carvajal, C.P., Andaluz, V.H. (2018). 3D Virtual Path Planning for People with Amyotrophic Lateral Sclerosis Through Standing Wheelchair. In: Ge, S., et al. Social Robotics. ICSR 2018. Lecture Notes in Computer Science(), vol 11357. Springer, Cham. https://doi.org/10.1007/978-3-030-05204-1_18
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DOI: https://doi.org/10.1007/978-3-030-05204-1_18
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