Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs
Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs
复制标题
应用 3DOF 方向跟踪器作为自动轮椅的人机界面
DOI：
10.1109/icorr.2007.4428406
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
U. Frese
中科院分区：
文献类型：
--
作者：
C. Mandel;T. Rofer;U. Frese
在这项工作中，我们展示了三自由度方向跟踪器作为自动轮椅的合适控制设备的适用性。结果表明，XSens MTx 等小型传感器设备既可以用作操纵杆的替代品，也可以用作新开发的导航算法的接口设备。具体来说，传感器设备安装在操作员的后脑勺上，永久测量姿势值，并将其转换为适当的转向命令。在现实世界的办公场景中，由未经训练的参与者进行综合实验用于评估目的。
Within this work, we demonstrate the applicability of a three degrees of freedom orientation tracker as suitable controlling equipment for an autonomous wheelchair. It is shown that a small-size sensor device, like the XSens MTx, can either serve as a joystick replacement, or as an interface device for a newly developed navigation algorithm. Specifically, the sensor device is mounted at the back of its operator's head, where it permanently measures posture values that are converted into adequate steering commands. Comprehensive experiments in a real world office scenario with untrained participants are used for evaluation purposes.