HelpStar Technology for Semi-Autonomous Wheelchairs.pdf

HelpStar Technology for Semi-Autonomous Wheelchairs L Deligiannidis, WD Potter, BJ Wimpey, H. Uchiyama, R. Deng, S. Radhakrishnan, and D. Barnhard Computer Science Department and Artificial Intelligence Center University of Georgia, Athens GA, USA ldeligia@ Abstract. This paper describes our virtual reality research prototype for supporting a semi- autonomous wheelchair. The VR component enables the “HelpStar” feature, which provides a user who is visually impaired with mobility independence. Our “HelpStar” enabled semi-autonomous wheelchair functions more like a personal assistant, allowing much greater user independence. When the user finds them self in an unforeseen circumstance, the “HelpStar” feature can be activated to allow a remote operator to use VR technologies to provide helpful navigational instructions or to send commands directly to the wheelchair. This paper demonstrates the successful integration of VR technologies with semi-autonomous remote vehicles for assistive support. Keywords Systems for Real-Life Applications, Human-Robot Interaction, Robotics, Semiautonomous Vehicles, Virtual Reality Introduction A semi-autonomous (SA) wheelchair is an electric powered wheelchair that contains perceptual and navigational capabilities for assisting a person who is visually impaired and using a wheelchair. The goal of an SA wheelchair is to improve the independent mobility of individuals with multiple disabilities based upon integrated sensory information and human-machine interaction. In a nutshell, the SA wheelchair provides the user with enough information about the environment to allow the user to navigate effectively. This is similar to the assistance a sighted, human attendant might provide while assisting with moving the user from one location to another. The user actually controls the motions of the wheelchair but is directed by the attendant. However, there are circumstances where the SA wheelchair user mi