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Tactile Sensors Based Steering as a Substitute of the Attendant Joystick in Powered Wheelchairs

Andres Trujillo-Leon 1 Wael Bachta 2, 3 Fernando Vidal-Verdú 1
2 AGATHE - Assistance aux Gestes et Applications THErapeutiques
ISIR - Institut des Systèmes Intelligents et de Robotique, INSERM - Institut National de la Santé et de la Recherche Médicale : U1150
Abstract : Attendant joysticks of powered wheelchairs are devices oriented to help caregivers. Diseases and disabilities such as dementia, spinal cord injuries or blindness make the user unable to drive the chair by his or her own. However, this device is not intuitive to use, especially for old people. Proper processing of the information provided by two tactile sensors in the handlebars achieves control signals that allow an easy and intuitive driving. This is done in this paper, where the performance of this approach is evaluated in comparison with that of the joystick by means of objective measurements as well as questionnaires to obtain the subjective perception of the participants in the experiments. The results show a better performance of the handlebar in terms of error in following a trajectory, collisions with the surrounding furniture, and user feeling related to ease of use, comfort, required training, usefulness, safety and fatigue.
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https://hal.sorbonne-universite.fr/hal-02492148
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Submitted on : Wednesday, February 26, 2020 - 4:46:37 PM
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Andres Trujillo-Leon, Wael Bachta, Fernando Vidal-Verdú. Tactile Sensors Based Steering as a Substitute of the Attendant Joystick in Powered Wheelchairs. IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2018, 26 (7), pp.1381-1390. ⟨10.1109/TNSRE.2018.2838326⟩. ⟨hal-02492148⟩

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