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Modeling of human velocity habituation for a robotic wheelchair | IEEE Conference Publication | IEEE Xplore

Modeling of human velocity habituation for a robotic wheelchair


Abstract:

This work proposes a model for human habituation while riding a robotic wheelchair. We present and describe the concept of human navigational habituation which we define ...Show More

Abstract:

This work proposes a model for human habituation while riding a robotic wheelchair. We present and describe the concept of human navigational habituation which we define as the human habituation to repetitively riding a robotic wheelchair. The approach models habituation in terms of preferred linear velocity based on the experience of riding a wheelchair. We argue that preferred velocity changes as the human gets used to riding on the wheelchair. Inexperienced users initially prefer to ride at a slow moderate pace, however the longer they ride they prefer to speed up to a certain comfort level and find initial slower velocities to be tediously “too slow” for their experience level. The proposed habituation model provides passenger preferred velocity based on experience. Human biological measurements, galvanic skin conductance, and participant feedback demonstrate the preference for habituation velocity control over fixed velocity control. To our knowledge habituation modeling is new in the field of autonomous navigation and robotics.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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