1. Lecture 25
Dimitar Stefanov

2. Autonomous-Guided Wheelchairs
Go-to-goal wheelchairs

3. Wheelchair Control, based on Visual servoing of the head position
Shirai Lab ( )

4. Wheelchair Control, based on Visual servoing of the head position (continue)

5. Wheelchair Control, based on Visual servoing of the head position (continue)

6. TAO-1 Intelligent Wheelchair Applied AI Systems Inc.

7. TAO-1 Intelligent Wheelchair Main characteristics
Infared and bump sensors
Automatic visual avoidance
Voice command response
Collision avoidance
Passage through a narrow corridor
Entry through a narrow doorway
Landmark based navigation

8. TinMan intelligent wheelchair controller Main characteristics
KISS Institute for Practical Robotics (KIPR)
supplemental wheelchair controller that can be retrofitted to existing wheelchairs
safely and independently operation a powered wheelchair by users who has partial visual impairment or brain damage,
sensors for obstacles detection

9. TinMan intelligent wheelchair controller (continue)

10. Light guidance system Dohi Lab

11. Autonomous guided wheelchair Nagasaki University and Ube Technical College
position error: 0.35 m;
angular error: 17 degrees
uses existing ceiling lights
vision sensor (position)
azimuth sensor (orientation)
wheels angle rotation sensor (odometric information)
laser range sensor (obstacles detection)

12. MAid project Research Institute for Applied Knowledge Processing FAW
robotic wheelchair for transport of elderly
semi-autonomous mode
autonomous mode
wheel encoders
fiber-optic gyroscope
sonar system
infrared sensors SICK

13. Wheelesley Intelligent wheelchair

14. Wheelesley (continue)
started at Wellesley College in 1995 (Holly Yanco)
Developed at the KISS Institute
moved to the MIT Artificial Intelligence Laboratory
interface EagleEyes system (EOG - electro-oculographic potential)

15. Wheelesley EagleEyes system

16. NavChair University of Michigan

17. NavChair (continue)
University of Michigan (Simon Levine, Johann Borenstein)
obstacle avoidance, follow walls
narrow doorway passage

18. NavBelt University of Michigan
Device for guidance of blind people.
NavBelt generates acoustic cues
conveyed to the user via headphones.

19. GuideCane University of Michigan
Device for guidance of blind people.
Fully automatic ultrasonic sensor-based obstacle avoidance
Position information by combining odometry, compass, and gyroscope data

20. Drive Assistant (cont)

21. Drive Assistant (continue)
VTT Machine Automation Tampere, Finland
vehicle positioning and navigation
dead reckoning
differential GPS
passive transponders
natural landmarks in the environment
laser based navigation
part of the project FOCUS for the TIDE programme
ultrasonic sensors
M3S interface.

22. SENARIO (1994)

23. SENARIO (Ultrasonic sensors)

24. SENARIO (continue)
Intelligence in the navigation systems of the powered wheelchair
Autonomous mode - "go to goal" commands
Obstacles and risks avoidance system.

25. Intelligent wheelchair at the University of Notre Dame (1994)

26. PAM - AID project Personal Adaptive Mobility Aid for the Infirm and Elderly Blind
outdoor navigation PLUS physically support
Labmate mobile base
Joystick
Polaroid sonar sensors
Infrared proximity sensors
command bar with Braile code key
tone and voice feedback

27. HITOMI Yamanishi University (Japan)
“hitomi” = pupil
outdoor navigation PLUS physically support
vision system
sonar system
DGPS and digital map
voice MMI
command bar with Braille code key.