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Universal, Open Source, Myoelectric Interface for Assistive Devices
Chalmers Univ Technol, Biomechatron & Neurorehabil Lab, Dept Elect Engn, Gothenburg, Sweden..
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0001-5129-342X
Chalmers Univ Technol, Biomechatron & Neurorehabil Lab, Dept Elect Engn, Gothenburg, Sweden.;Integrum AB, S-43137 Molndal, Sweden..
2018 (English)In: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), IEEE , 2018, p. 1585-1589Conference paper, Published paper (Refereed)
Abstract [en]

We present an integrated, open-source platform for the control of assistive vehicles. The system is vehicle-agnostic and can be controlled using a myoelectric interface to translate muscle contractions into vehicular commands. A modular shared-control system was used to enhance safety and ease of use, and three collision avoidance systems were included and verified in both an included test platform and on a quadcopter operating in a simulated environment. Seven subjects performed the experiments and rated the user experience of the system under each of the provided collision avoidance systems with positive results. Qualitative tests with the quadcopter validated the proposed system and shared-control techniques. This open-source platform for shared control between humans and machines integrates decoding of motor volition with control engineering to expedite further investigation into the operation of mobile robots.

Place, publisher, year, edition, pages
IEEE , 2018. p. 1585-1589
Series
International Conference on Control Automation Robotics and Vision, ISSN 2474-2953
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-246316DOI: 10.1109/ICARCV.2018.8581344ISI: 000459847700266Scopus ID: 2-s2.0-85060829166ISBN: 978-1-5386-9582-1 (print)OAI: oai:DiVA.org:kth-246316DiVA, id: diva2:1297326
Conference
15th International Conference on Control, Automation, Robotics and Vision (ICARCV), NOV 18-21, 2018, Singapore, SINGAPORE
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved

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Karayiannidis, Yiannis

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