title: Wheelchair collaborative control for disabled users navigating indoors.
abstract: OBJECTIVE
  Mobility is of key importance for autonomous living. Persons with severe disabilities may be assisted by robotic wheelchairs when manual control is not possible. However, these persons should contribute to control as much as they can to avoid loss of residual skills and frustration. Traditionally, wheelchair shared control approaches either give control to person or robot depending on the situation.
  
  
  METHODS
  We propose a new shared control technique where robot and person contribute simultaneously to control. Their commands are weighted according to their respective local efficiencies and then combined via a reactive navigation strategy. Thus, assistance adapts to the user's needs. We refer to this approach as collaborative control.
  
  
  RESULTS
  Collaborative control was tested in a home environment in Fondazione Santa Lucia (Rome) by 18 volunteers presenting different degrees of physical and cognitive disability. All of them successfully finished a complex test path with assistance. Both users and caregivers' opinion on the system was very positive. Acceptance was very good according to the psychosocial impact of assistive devices scale.
  
  
  CONCLUSIONS
  Collaborative control adapts to the person's needs and assists him/her when necessary, locally compensating any problem related to specific disabilities. An ANOVA returned a p-value of 0.016, meaning that there is significant improvement in task performance when collaborative control is used.
authors: Departamento Tecnología Electronica, ETSI Telecomunicación, Universidad de Málaga, Campus Teatinos, Spain. cristina@dte.uma.es
authors: Cristina
authors: C
authors: Urdiales
authors: Manuel
authors: M
authors: Fernández-Carmona
authors: José M
authors: JM
authors: Peula
authors: Ulises
authors: U
authors: Cortés
authors: Roberta
authors: R
authors: Annichiaricco
authors: Carlo
authors: C
authors: Caltagirone
authors: Francisco
authors: F
authors: Sandoval
mesh_terms: D006233:Persons with Disabilities; D006801:Humans; D014910:Wheelchairs