SBIR Phase II: CoPilot - An Active Wheelchair Driving Aid for Independent Living

这个小型企业创新研究（SBIR）第二阶段项目提出开发和商业化一种主动驾驶辅助设备，使电动轮椅（EPW）在室内和动态户外环境中实现半自主，合作导航。它使用智能传感和驱动控制系统，与驾驶员协同工作，帮助应对不断变化的地形，避免障碍物/碰撞，并保持直线路径。此外，该系统还允许更高级别的路径规划，并以安全有效的方式自主执行非线性行驶路线。该项目的目标是实现积极，安全和独立的生活。创新之处在于，当一个人开始失去认知、感知或运动功能时？是因为年龄受伤还是疾病系统可以增加损失，因为它可以解释用户？的意图，它可以吗？看到没？到环境中去。这种外感受传感能力是通过利用最新的3D成像技术实现的。该团队将利用他们在智能EPW技术商业化方面的经验（包括获得FDA批准），并将通过参与DARPA城市挑战赛，将他们在开发自动驾驶解决方案中获得的知识应用于此。该项目的更广泛影响/商业潜力将在美国社会产生重大影响，它将对老年人和残疾人的生活质量和独立性产生直接的积极影响。利用机器人技术实现个人移动可以帮助美国残疾人充分参与基本活动，如就业，教育，崇拜，娱乐和其他社区生活活动常常被视为理所当然。从经济上讲，老年人口迅速增长的一个严重副作用是，到2030年将超过7000万，这将给美国医疗保健系统带来前所未有的压力。这种影响可以通过使个人保持独立和在家里生活更长时间来缓解。据估计，增加一个月的独立和健康的美国？美国的老年人口将节省50亿美元，而减少10%的住院和机构治疗每年将节省500亿美元。因此，以家庭为中心的医疗保健方法的技术，如拟议中的系统，是必要的。在研究方面，虽然目前的重点是辅助机器人领域，这项研究将可扩展到一般领域和服务机器人，因为大部分工作都与3D感知有关。

This Small Business Innovation Research (SBIR) Phase II project proposes to develop and commercialize anactive driving aid that enables semi-autonomous, cooperative navigation of an electric-powered wheelchair(EPW) both indoors and in dynamic, outdoor environments. It uses intelligent sensing and drive controlsystems that work in cooperation with the driver to aid in negotiating changing terrain, avoiding obstacles/collisions, and maintaining a straight path. Additionally, the system allows for higher-level path planningand the autonomous execution of non-linear routes of travel in a safe and efficient manner. The goal ofthe project is to enable active, safe, and independent living. The innovation is that as an individual begins tolose cognitive, perceptive, or motor function ? due to age, injury, or disease ? the system can augment thatloss because it can interpret the user?s intent and it can ?see? out into the environment on their behalf. Thisexteroceptive sensing capability is enabled by leveraging the latest in 3D imaging technology. The team willexploit their experience in commercializing smart-EPW technologies (including acquiring FDA approval),and will apply the knowledge they have gained in developing autonomous driving solutions through theirparticipation in the DARPA Urban Challenge.The broader impact/commercial potential of this project will have significant impacts in the U.S. Socially,it will have a direct positive effect on the quality of life and independence of the elderly and disabled.Leveraging robotics for personal mobility can help Americans with disabilities to participate fully in basicactivities such as employment, education, worship, recreation, and other activities of community life oftentaken for granted. Economically, a serious side effect of the rapidly growing elder population, to over 70million by 2030, is that it will place unprecedented strains on the U.S. healthcare system. This impact canbe moderated in part by enabling individuals to maintain their independence and live at home longer. It isestimated that adding a single month of independence and health to America?s elder population would save$5 billion, while decreasing hospitalization and institutionalization 10% would save $50 billion annually.As a result, technology for home-centered approaches to healthcare, such as the proposed system, are necessary.In research terms, while the immediate focus is in the field of assistive robotics, this research will beextendable to general field and service robotics as much of the work is related to 3D perception.