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On the Design and Validation of an Intelligent Powered Wheelchair: Lessons from the SmartWheeler Project

  • Joelle Pineau
  • Amin Atrash
  • Robert Kaplow
  • Julien Villemure
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 83)

Abstract

New-generation, intelligent, powered wheelchairs promise to increase the mobility and freedom of individuals with serious chronic mobility impairments. And while rapid progress continues to be made in terms of the engineering capabilities of robotic wheelchairs, many projects fall short of the target in terms of ease of use, conviviality, and robustness. This paper describes the SmartWheeler, a multifunctional intelligent wheelchair, which leverages state-of-the-art probabilistic techniques for both autonomous navigation and user interaction modeling, to provide a novel robust solution to the problem of assistive mobility. We also discuss the use of standardized evaluation in the development and testing of such technology.

Keywords

Path Planning Robot Navigation Interaction Manager Autonomous Navigation Partially Observable Markov Decision Process 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Joelle Pineau
    • 1
  • Amin Atrash
    • 1
  • Robert Kaplow
    • 1
  • Julien Villemure
    • 1
  1. 1.McGill UniversityMontrealCanada

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