For patients with amyotrophic lateral sclerosis (ALS), disease progression can cause a loss of motor function. As motor function declines, the dexterity needed to control a wheelchair’s joysticks can also be compromised. The objective of this work is to integrate user sensor inputs and wheelchair position measurements to improve the performance of wheelchair guidance, even in the presence of noisy inputs from the user. This work evaluates probabilistic, model-based methods for blending joystick and position inputs along a series of user-created trajectories, similar to those that a wheelchair user may follow in their day-to-day navigational routines. We answer three key questions in order to associate joystick inputs to path-keeping decisions: 1) What is a path? 2) When are paths different? 3) What is the probability of a particular destination along a path? The algorithmic answers to these questions are verified using experimental wheelchair joystick and position measurements. Using this approach, the goal is to safely guide a wheelchair’s trajectory even if the user is providing ambiguous inputs. This process enables better discrimination of user joystick inputs for navigation algorithms, resulting in improved wheelchair guidance, safety, and patient monitoring.
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ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5191-3
PROCEEDINGS PAPER
Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance
Kelilah L. Wolkowicz,
Kelilah L. Wolkowicz
Pennsylvania State University, University Park, PA
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Robert D. Leary,
Robert D. Leary
Pennsylvania State University, University Park, PA
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Jason Z. Moore,
Jason Z. Moore
Pennsylvania State University, University Park, PA
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Sean N. Brennan
Sean N. Brennan
Pennsylvania State University, University Park, PA
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Kelilah L. Wolkowicz
Pennsylvania State University, University Park, PA
Robert D. Leary
Pennsylvania State University, University Park, PA
Jason Z. Moore
Pennsylvania State University, University Park, PA
Sean N. Brennan
Pennsylvania State University, University Park, PA
Paper No:
DSCC2018-9228, V003T37A010; 10 pages
Published Online:
November 12, 2018
Citation
Wolkowicz, KL, Leary, RD, Moore, JZ, & Brennan, SN. "Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T37A010. ASME. https://doi.org/10.1115/DSCC2018-9228
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