1.4 Literature Survey

1.4.1 Developing a voice-commandable robotic wheelchair

Students of Massachusetts Institute of Technology, Massachusetts

The goal of this smart wheelchair project is to enhance an ordinary powered wheelchair using sensors to perceive the wheelchair's surroundings, a speech interface to interpret commands, a wireless device for room-level location determination, and motor-control software to effect the wheelchair's motion.

The robotic wheelchair learns the layout of its environment (hospital, rehabilitation center, home, etc.) through a narrated, guided tour given by the user or the user's caregivers. Subsequently, the wheelchair can move to any previously-named location under voice command (e.g., "Take me to the cafeteria"). This technology is appropriate for people who have lost mobility due to brain injury or the loss of limbs, but who retain speech. The technology can also enhance safety for users who use ordinary joystick-controlled powered wheelchairs, by preventing collisions with walls, fixed objects, furniture and other people.

1.4.2 The Smart Wheelchair Component System

Figure 2: The Smart Wheelchair Component System

University of Pittsburgh, Forbes Tower, Pittsburgh

We are therefore developing a modular Smart Wheelchair Component System (SWCS), shown in Figure 2, which can be added to a variety of commercial power wheelchairs with minimal modification. We envision a collection of components that can be attached to standard power wheelchairs from several different manufacturers to convert them into smart wheelchairs. The SWCS is being designed to accommodate all traditional input methods (analog joystick, touch-activated switches, pneumatic “Sip n’ Puff” switches, etc.) and to be compatible with multiple brands of wheelchairs.

1.4.3 Vision-based control of a smart wheelchair for the automated transport and retrieval system

Humberto Sermeno-Villalta, Lehigh University

A vision-based control approach for autonomously docking a wheelchair onto a vehicle lift platform. This is a principle component of the automated transport and retrieval system (ATRS) - an alternate mobility solution for drivers with lower body disabilities. The ATRS employs robotics, automation, and machine vision technologies, and can be integrated into a standard minivan or sport utility vehicle (SUV). At the core of the ATRS is a "smart" wheelchair system that autonomously navigates between the driver's position and a powered lift at the rear of the vehicle eliminating the need for an attendant. From an automation perspective, autonomously docking the wheelchair onto the lift platform presented the most significant technical challenge for the proof-of-concept ATRS. This was driven primarily by geometry constraints, which limited clearance between the chair wheels and the lift platform rails.

Smart Wheelchair: Autonomous navigation - Human machine collaborative navigation

Perception and Robotics laboratory, Canada

1.4.4 SPAM – Smart Power Assisted Module

Rebekah Wigton

Figure 3: Smart Power Assisted Module

The SPAM is a motorized wheelchair with sensors that detect obstacles and software that modifies the path of the wheelchair to avoid obstacles. The wheelchair will be used for people with both a visual and mobility impairment that makes it difficult or even impossible for them to walk independently by using a cane, guide dog or other traditional methods of transportation for the visually impaired. Mostly the SPAM will be used for the elderly.

1.4.5 Voice and Touch Screen Based Direction and Speed Control of Wheel Chair for Physically Challenged Using Arduino

M.Prathyusha, K. S. Roy, Dept. of E.C.E, K. L. University, Guntur, India

This paper is to describe an intelligent motorized wheel chair for handicapped person using voice and touch screen technology. It enables a disabled person to move around independently using a touch screen and a voice recognition application which is interfaced with motors through microcontroller. When we want to change the direction, the touch screen sensor is modeled to direct the user to required destination using direction keys on the screen and that values are given to microcontroller. Depending on the direction selected on the touch screen, microcontroller controls the wheel chair directions. This can also be controlled through simple voice commands using voice controller.

Y. Touati, A. Ali-Cherif, H. Aoudia and M. Demri, University of Paris

This paper presents a monitoring and control approach based on virtual impedance method for handicapped people's assistance. The approach uses a wireless communication network which is based on 802.11 standards. This approach allows a reliable remote maneuvering with obstacle avoidance taking into account system's interactive behaviour. To test the effectiveness of the proposed approach, simulations and experimentation are designed in this respect.

1.4 Literature Survey