Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs
To effectively provide the handicapped with mobility aids, studies on the shared autonomy of robotic systems have been widely cultivated. This study proposes an adaptive shared control strategy to realize reliable and safe driving assistance on an intelligent electric wheelchair with protection agai...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/16/6/2583 |
| _version_ | 1797612126702927872 |
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| author | Hsin-Han Chiang Wan-Ting You Jin-Shyan Lee |
| author_facet | Hsin-Han Chiang Wan-Ting You Jin-Shyan Lee |
| author_sort | Hsin-Han Chiang |
| collection | DOAJ |
| description | To effectively provide the handicapped with mobility aids, studies on the shared autonomy of robotic systems have been widely cultivated. This study proposes an adaptive shared control strategy to realize reliable and safe driving assistance on an intelligent electric wheelchair with protection against human errors. The theoretical framework of the system is analyzed by the linearized reference wheelchair model and stable characteristics of obstacle avoidance behavior can be subsequently derived according to the Lyapunov analysis and Liénard-Chipart criterion. Based on the convex analysis, the relationships between human input and robot control are investigated to determine shared control weights. As such, safety and reliability can be guaranteed. To verify the performances of the proposed approach, human errors including skill-based errors, decision errors, and violations are considered in the experiments. The experimental results based on a comprehensive study show that the proposed method is capable of enhancing driving safety and reducing operation burden in terms of the designed criteria with fluency, smoothness, and time efficiency while protecting the user from human manual errors. |
| first_indexed | 2024-03-11T06:37:55Z |
| format | Article |
| id | doaj.art-88763d1873d649e3b63ea754048665cd |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-11T06:37:55Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-88763d1873d649e3b63ea754048665cd2023-11-17T10:48:07ZengMDPI AGEnergies1996-10732023-03-01166258310.3390/en16062583Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric WheelchairsHsin-Han Chiang0Wan-Ting You1Jin-Shyan Lee2Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10608, TaiwanIOT Software Department, Compal Electronics, Inc., Taipei 11492, TaiwanDepartment of Electrical Engineering, National Taipei University of Technology, Taipei 10608, TaiwanTo effectively provide the handicapped with mobility aids, studies on the shared autonomy of robotic systems have been widely cultivated. This study proposes an adaptive shared control strategy to realize reliable and safe driving assistance on an intelligent electric wheelchair with protection against human errors. The theoretical framework of the system is analyzed by the linearized reference wheelchair model and stable characteristics of obstacle avoidance behavior can be subsequently derived according to the Lyapunov analysis and Liénard-Chipart criterion. Based on the convex analysis, the relationships between human input and robot control are investigated to determine shared control weights. As such, safety and reliability can be guaranteed. To verify the performances of the proposed approach, human errors including skill-based errors, decision errors, and violations are considered in the experiments. The experimental results based on a comprehensive study show that the proposed method is capable of enhancing driving safety and reducing operation burden in terms of the designed criteria with fluency, smoothness, and time efficiency while protecting the user from human manual errors.https://www.mdpi.com/1996-1073/16/6/2583shared autonomydriving assistancehuman safety enhancementobstacle avoidanceautonomous wheelchairs |
| spellingShingle | Hsin-Han Chiang Wan-Ting You Jin-Shyan Lee Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs Energies shared autonomy driving assistance human safety enhancement obstacle avoidance autonomous wheelchairs |
| title | Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs |
| title_full | Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs |
| title_fullStr | Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs |
| title_full_unstemmed | Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs |
| title_short | Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs |
| title_sort | shared driving assistance design considering human error protection for intelligent electric wheelchairs |
| topic | shared autonomy driving assistance human safety enhancement obstacle avoidance autonomous wheelchairs |
| url | https://www.mdpi.com/1996-1073/16/6/2583 |
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