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Journal Articles Modelling, measurement and control C Year : 2018

Assisting power wheelchair driving on a sidewalk: A proof of concept

Louise Devigne
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  • PersonId : 1047104
François Pasteau
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  • PersonId : 1047105
Nicolas Le Borgne
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  • PersonId : 1047106
Marie Babel
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  • PersonId : 1026434
Tom Carlson
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  • PersonId : 846278


The use of a power wheelchair allows to maintain mobility by providing better access to daily activities and thus positive impact on the quality of life. However, driving a power wheelchair is a complex task, particularly within an environment consisting of negative obstacles (e.g. steps, sidewalk edges). In this context, falling accidents can occur while driving a power wheelchair on a sidewalk. Therefore, driving assistance is required to prevent from falling off a curb edge. In order to meet these expectations, we here propose a semi-autonomous shared control framework assisting the user while driving on a sidewalk. We present simulations as well as an experiment carried out with our system embedded on a standard wheelchair. In both cases, our method allows progressive velocity adaptation when approaching a curb edge resulting in the wheelchair avoiding the risk of falling. The obtained results thus provide a proof of concept of our method.
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Dates and versions

hal-02124782 , version 1 (09-05-2019)



Louise Devigne, François Pasteau, Nicolas Le Borgne, Marie Babel, Tom Carlson, et al.. Assisting power wheelchair driving on a sidewalk: A proof of concept. Modelling, measurement and control C, 2018, 79 (4), pp.185-189. ⟨10.18280/mmc_c.790406⟩. ⟨hal-02124782⟩
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