Collaborative Assistive Robot for Mobility Enhancement (CARMEN): The bare necessities: assisted wheelchair navigation and beyond

243 Pages·2012·7.928 MB·English

by  Cristina Urdiales (auth.)

CristinaUrdiales
CollaborativeAssistiveRobotforMobilityEnhancement(CARMEN)
IntelligentSystemsReferenceLibrary,Volume27
Editors-in-Chief
Prof.JanuszKacprzyk Prof.LakhmiC.Jain
SystemsResearchInstitute UniversityofSouthAustralia
PolishAcademyofSciences Adelaide
ul.Newelska6 MawsonLakesCampus
01-447Warsaw SouthAustralia5095
Poland Australia
E-mail:[email protected] E-mail:[email protected]
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TowardsIntelligentModeling:StatisticalApproximation CollaborativeAssistiveRobotforMobilityEnhancement
Theory,2011 (CARMEN),2012
ISBN978-3-642-19825-0 ISBN978-3-642-24901-3
Cristina Urdiales
Collaborative Assistive
Robot for Mobility
Enhancement (CARMEN)
The Bare Necessities:AssistedWheelchair
Navigation and Beyond
123
Dr.CristinaUrdiales
ETSITelecomunicacion
CampusdeTeatinoss/n
29071-Málaga
Spain
E-mail:[email protected]
Co-authors
Jose´ManuelPeulaPalacios
ManuelFdez-Carmona
ISBN 978-3-642-24901-3 e-ISBN978-3-642-24902-0
DOI 10.1007/978-3-642-24902-0
Intelligent SystemsReference Library ISSN1868-4394
Library of Congress Control Number:2011939764
(cid:2)c 2012 Springer-VerlagBerlin Heidelberg
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Anexpertisapersonwhohasmadeallthe
mistakesthatcanbemade
inaverynarrowfield.
-NielsBohr
Justkeep swimming.Justkeep swimming,
swimming,swimming.
Dory-FindingNemo
Foreword
Ops!Ididitagain!
Ifeveryjourneystartswithonestep,mineusuallydoitwithaslip,whichisjustthesame,
only fancier. In this case, I stomped into this awesome book that a friend gave me: "On
Intelligence"[65].Ireadandreadandthoughttomyself,hey,thiscouldbeaniftywriting
styleforadissertation!Youcanuseaneasy-goingtoneforabookandstillbescientifically
sound. Maybe Iwatched toomanyMazinger shows orreadtoomanyYokoTsunoBDsas
a kid and, surely, I think the best way to end up humanity would be to migrate Skynet to
Windows Vista, but somehow I thought it could be fun. And that was it. On my behalf, I
mustsaythatIinitiallyplannedthisworkforsomeoneelse,but,hey,sheranfasterthanme.
SohereIwas:Ihadfaith,hopeandSHARE-IT,eventhoughhopeoverruledtheothertwo
throughmostoftheproject.
Thismaylooklikeanexerciseofself-indulgement,yettherewasthisgroupofpeoplecrazy
enoughtohittheroadwithme,evenwhenIdidnotknowwhereIwasgoing.Thisonegoes
forallofyou,buddies!
ItwaswrittenintheIliad:nevertrustUlises.Anyway,ifyoudo,yay!,youareinfortheride
ofyourlife.
ToRoberta,whoshowedmethatswearingsoundsbetterinItalian.It’sbeengreatworking
withyou,myfriend.
Tomythreemusketeers,Manolo,PeulaandJoseCarlos,whoalwaysmanagedtobringback
queenAnna’spearlsintheproverbialnickoftime.
ToPacoSandoval,afellow,afriendandaninspiration.
ToHuey,DeweyandLouie,akaJulian,LuciaandClara,whoalwaysputasmileinmyface,
andtowhomevercomesnext.
ToalltheoompaloompasofscienceandtheFrikishare-ITcrowd.Haveyoutriedturningit
offandonagain?:P:D
And,lastbutneverleast,tomom,whohasbeenmylongestrelationshipandstillhasnottried
tokillme...much.Loveya,ol’girl!
Itwasworththeride,guys!
Preface
In nowadaysageingsociety,manypeople requireassistance for mobility.In some
cases,assistivedevicesrequireacertaindegreeofautonomywhentheperson’sdis-
abilitiesdifficultmanualcontrol.However,mobilityplatformslikewheelchairsare
not supposed to overtake full control on human mobility, as clinicians report this
leadstolossofresidualcapabilitiesandfrustration.Furthermore,thelevelofcon-
trolthatapersoncanexertoverawheelchairmaybeindicativeonhis/herphysical
and/or cognitive condition. Consequently, it is important to rate the performance
ofwheelchairuserswithsomeaccuracytochecktheirconditionandevolutionand
alsotoevaluatethequalityofdifferentcontrolstrategiesandenvironmentconfigura-
tions.Thisbookpresentsanewmethodtosupportwheelchairbasedperson-mobility
throughcollaborativecontrol.Theamountofhelpprovidedtoeachpersonshouldbe
adaptedtohis/herconditionthroughevaluationofhis/herperformance.Todothat,
wealsopresentanoverviewofcommonmetricsforwheelchairnavigationandalso
weproposenewonestotakeintoaccountnewapproachestowheelchaircontrol.We
havetestedpresentedmetricsonarobotizedMeyrawheelchairatFondazioneSanta
Lucia(FSL),ahospitalinRome,withvolunteerinpatientspresentingdifferentdis-
abilities.Resultsobtainedarecoherentbothfromaquantitativeandqualitativepoint
of view,provingthatthe proposedmetricsare adequateforwheelchairnavigation
evaluation.
Malaga CristinaUrdiales
Acknowledgment
C. Urdiales would like to acknowledgesupportfrom the Ministerio de Educacion
y Ciencia (MEC) and FEDER funds, project No. TEC2008-06734, Junta de An-
dalucia,ProjectNo.TIC-3991andEUSTREPprojectSHARE-ITIST-045088.The
authorwouldalsoliketothankFondazioneSantaLuciafortheirkindcooperation
andhelpandSauerMedicaS.L.forprovidingapowerwheelchairtoworkwith.The
viewsexpressedinthisworkarenotnecessarilythoseoftheSHARE-itconsortium.
Contents
1 OntheWhyofRoboticAssistiveDevices......................... 1
1.1 HephaestusandEverythingafter............................. 1
1.2 HistoryoftheBots ........................................ 7
1.3 TheTrifectaofTechnology,CostandNeed.................... 11
1.3.1 PowerinNumbers .................................. 13
1.3.2 TwoIsCompany.................................... 14
1.3.3 AllHelpandNoPlay................................. 15
1.4 CARMENinaNutshell .................................... 16
2 ADummy’sGuidetoAssistiveNavigationDevices ................ 19
2.1 TheArtofConversation.................................... 20
2.2 ToolsoftheTrade ......................................... 24
2.2.1 SenseandSensibility ................................ 25
2.2.2 TheXMarkstheSpot ............................... 27
2.2.3 MyMapoftheWorld................................ 28
2.2.4 GhostintheMachine................................ 30
2.3 GuysandCogs............................................ 33
2.4 AllTogetherNow ......................................... 37
3 FromSharedControltoCollaborativeNavigation ................ 41
3.1 GotHelp?................................................ 42
3.1.1 AndtheWinnerIs... ................................ 43
3.1.2 AWinkandaSmile................................. 45
3.1.3 EppurSiMuove .................................... 47
3.2 TheIinTeam ............................................ 48
3.2.1 WhoIsWho:AUserStudy........................... 49
3.2.2 TheNameoftheGame .............................. 50
3.2.3 AlltheColorsoftheRainbow......................... 51
3.2.4 It,Robot........................................... 52
3.2.5 It...Lives?......................................... 55
3.3 InnocentBystanders ....................................... 63
XIV Contents
4 Bigger,Faster,Better,More!.................................... 67
4.1 HowAmIDriving? ....................................... 67
4.1.1 IsThereaDoctorintheHouse? ....................... 68
4.1.2 TestCourses ....................................... 70
4.1.3 TaskMetrics ....................................... 71
4.1.4 PsychMetrics ...................................... 73
4.1.5 Usability .......................................... 74
4.1.6 MakeYourChoice! ................................. 75
4.2 WheretheWildThingsAre ................................. 77
4.2.1 ADayintheLife ................................... 79
4.2.2 TogetherAlone..................................... 80
4.2.3 AnArmyofTwo ................................... 82
4.2.4 Co-dependenceDay................................. 88
4.3 IsYouIsorIsYouAin’t.................................... 90
5 IfIOnlyHadaBrain.......................................... 93
5.1 OobeeDoo,IWannaBeLikeYou ........................... 93
5.1.1 LearningbyImitation ............................... 94
5.1.2 TeachingbyImitation ............................... 94
5.1.3 TeachingthroughCollaboration ....................... 97
5.2 TotalRecall .............................................. 97
5.3 AGameofMemory ....................................... 104
5.3.1 RobotsDoItBetter ................................. 105
5.3.2 RoomtoCorridorTests .............................. 106
5.3.3 CorridortoRoomTests .............................. 109
5.3.4 Room-Corridor-RoomTests .......................... 111
5.3.5 SubjectwithSpecificDisabilityTests .................. 112
5.4 ToLearnorNottoLearn ................................... 114
6 OnceMore,withFeeling ....................................... 117
6.1 ANewBeginning ......................................... 117
6.2 TheBTeam .............................................. 119
6.2.1 GoodPhysicalandCognitiveSkills.................... 119
6.2.2 GoodCognitiveSkills,LowPhysicalOnes.............. 127
6.2.3 LowCognitiveandLowPhysicalSkills ................ 136
6.3 Closer,ButNotYet! ....................................... 142
7 Yes,WeK-an:ModulatedCollaborativeControl.................. 145
7.1 Surfin’theWave .......................................... 145
7.2 InDocsWeTrust.......................................... 147
7.2.1 StandaloneMode ................................... 147
7.2.2 OriginalCollaborativeControl ........................ 148
7.2.3 CollaborativeControl,RobotPredominant .............. 152
7.3 Don’tPanic!! ............................................. 153
7.3.1 EveryBeatofMyHeart.............................. 155