title: A Driving Behaviour Model of Electrical Wheelchair Users.
abstract: In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user's steering behaviour. This paper contributes to wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory regression analysis results.
authors.affiliation: F'SATI, Tshwane University of Technology, Private Bag Box X680, Staatsartillerie Road, Pretoria West, Pretoria 0001, South Africa.
authors.forename: S O
authors.identifier: 0000-0002-2266-5893
authors.initials: SO
authors.lastname: Onyango
authors.affiliation: F'SATI, Tshwane University of Technology, Private Bag Box X680, Staatsartillerie Road, Pretoria West, Pretoria 0001, South Africa.
authors.forename: Y
authors.initials: Y
authors.lastname: Hamam
authors.affiliation: F'SATI, Tshwane University of Technology, Private Bag Box X680, Staatsartillerie Road, Pretoria West, Pretoria 0001, South Africa.
authors.forename: K
authors.initials: K
authors.lastname: Djouani
authors.affiliation: Laboratoire d'Informatique Avancée de Saint de Denis (LIASD), University of Paris 8, France.
authors.forename: B
authors.initials: B
authors.lastname: Daachi
authors.affiliation: F'SATI, Tshwane University of Technology, Private Bag Box X680, Staatsartillerie Road, Pretoria West, Pretoria 0001, South Africa.
authors.forename: N
authors.initials: N
authors.lastname: Steyn
mesh_terms: D000328:Adult; D000368:Aged; D003198:Computer Simulation; D004867:Equipment Design; D005260:Female; D006801:Humans; D008297:Male; D008875:Middle Aged; D014584:User-Computer Interface; D014910:Wheelchairs