Collaborative Control for a Robotic Wheelchair: Evaluation of Performance, Attention, and Workload
Collaborative Control for a Robotic Wheelchair: Evaluation of Performance, Attention, and Workload
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DOI：
10.1109/tsmcb.2011.2181833
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发表时间：
2012-06-01
影响因子：
--
通讯作者：
Demiris, Yiannis
中科院分区：
文献类型：
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作者：
Carlson, Tom;Demiris, Yiannis
电动轮椅使用者常常难以安全有效地驾驶，在更严重的情况下，只能在助手的陪同下出行。为了解决这些问题，我们提出了一种协作控制机制，可以在用户需要帮助时为他们提供帮助。该系统采用多重假设方法来预测驾驶员的意图，并在必要时调整控制信号以安全地实现预期目标。本文的主要重点是综合评估，我们不仅关注系统性能，而且也许更重要的是，在将眼动追踪与辅助任务相结合的实验中表征用户性能。在没有帮助的情况下，参与者在沿着预定路线行驶时经历了多次碰撞。相反，当他们得到协作控制器的协助时，他们不仅可以更安全地驾驶，而且可以减少对驾驶的注意力，从而减少认知工作量。我们讨论了这些结果的重要性及其对共享控制的其他应用的影响，例如脑机接口，它可以用来补偿用户输入的低频和低分辨率。
Powered wheelchair users often struggle to drive safely and effectively and, in more critical cases, can only get around when accompanied by an assistant. To address these issues, we propose a collaborative control mechanism that assists users as and when they require help. The system uses a multiple-hypothesis method to predict the driver's intentions and, if necessary, adjusts the control signals to achieve the desired goal safely. The main emphasis of this paper is on a comprehensive evaluation, where we not only look at the system performance but also, perhaps more importantly, characterize the user performance in an experiment that combines eye tracking with a secondary task. Without assistance, participants experienced multiple collisions while driving around the predefined route. Conversely, when they were assisted by the collaborative controller, not only did they drive more safely but also they were able to pay less attention to their driving, resulting in a reduced cognitive workload. We discuss the importance of these results and their implications for other applications of shared control, such as brain-machine interfaces, where it could be used to compensate for both the low frequency and the low resolution of the user input.