title: Mobile robotics and mobility assistance for people with motor impairments: rational justification for the VAHM Project.
abstract: The VAHM project aims to improve the control of powered wheelchairs by adding possibilities of autonomous mobility. We propose specifications which are based on a detailed study of similar projects described in specialized publications. Three operating modes are defined in order to adapt the system to a great diversity of situations. In the autonomous mode a global trajectory is planned, and the user then intervenes to point the goal and, if need be, stop a motion during its execution. The assisted manual mode allows access to local primitives like a wall following. Finally, in the manual mode, we find the classical control of a powered wheelchair again. The first results of the technical evaluation are discussed in the conclusion.
authors.affiliation: Laboratoire d'Automatique et d'Electronique Industrielles, Metz University, France.
authors.forename: G
authors.initials: G
authors.lastname: Bourhis
authors.forename: P
authors.initials: P
authors.lastname: Pino
mesh_terms: D006233:Persons with Disabilities; D004867:Equipment Design; D006801:Humans; D012371:Robotics; D014910:Wheelchairs