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User's intent detecton and shared co...

Huang, Cunjun.

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User's intent detecton and shared control: Application to an intelligent walker.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	User's intent detecton and shared control: Application to an intelligent walker./
作者:	Huang, Cunjun.
面頁冊數:	245 p.
附註:	Adviser: Pradip Sheth.
Contained By:	Dissertation Abstracts International68-01B.
標題:	Engineering, Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3248092

User's intent detecton and shared control: Application to an intelligent walker.
Huang, Cunjun.

User's intent detecton and shared control: Application to an intelligent walker. - 245 p.

Adviser: Pradip Sheth.

Thesis (Ph.D.)--University of Virginia, 2007.

Interactions between the human user and robotic systems necessarily require a control system designed on the philosophy of "shared control" between them. This is particularly important when the robotic technology is utilized as an assistive device, such as for example to enable the elderly to retain independent mobility.Subjects--Topical Terms:

1018454
Engineering, Robotics.

User's intent detecton and shared control: Application to an intelligent walker.
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245 1 0 $a User's intent detecton and shared control: Application to an intelligent walker.
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520 $a Interactions between the human user and robotic systems necessarily require a control system designed on the philosophy of "shared control" between them. This is particularly important when the robotic technology is utilized as an assistive device, such as for example to enable the elderly to retain independent mobility.
520 $a This dissertation considers a geriatric walker as the platform to develop this shared control architecture, and seeks to reduce the user's burden in this shared control architecture. This is achieved by abandoning all the switches and buttons which are required to express the user's command explicitly. Instead, this dissertation uses natural feedback obtained from the Human Robotic Interface (HRI) which includes the reaction forces/moments on the handles to detect the user's intent and then takes proper control actions. This research makes path predictions by use of physics based, embedded model of the walker dynamics, analyzes the predictions within the context of the local environment mapped from the sensed data, and then accumulates the analysis results over time by use of uncertainty theory to obtain the proper user's intent over a longer range. This shared control architecture also provides situation-dependent synthesis of control signals from both the human and the machine. The shared control system takes action based on the user's intent. Furthermore, the controller is built with the premise that the user's intent detection can be imprecise or incorrect as a user may perform similar actions to achieve different goals. The control system thus includes the ability to detect the disagreement between the user's intent and the controller's intent, and the ability to resolve the conflict between them. A variety of test data was acquired on this research prototype walker and is presented in this dissertation to demonstrate the concepts developed in this research.
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