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3D virtual path planning for people with amyotrophic lateral sclerosis through standing wheelchair

Abstract:

This article presents the development of an autonomous control system of an electric standing wheelchair for people with amyotrophic lateral sclerosis. The proposed control scheme is based on the autonomous maneuverability of the standing wheelchair, for which a path planner is implemented to which the desired 3D position is defined through the eye-tracking sensor. The eye-tracking is implemented in a virtual reality environment which allows selecting the desired position of the standing wheelchair. The wheelchair has a standing system that allows the user to position himself on the Z axis according to his needs independently of the displacement in the X-Y plane with respect to the inertial reference system <R>. To verify the performance of the proposed control scheme, several experimental tests are carried out.