Adaptive Shared Control for an Intelligent Power Wheelchair

Richard C. Simpson, Simon P. Levine

The NavChair Assistive Navigation System is being developed to increase the mobility of severely handicapped individuals by providing navigation assistance for a power wheelchair. While designing the NavChair it became clear that obtaining the full range of desired functionality required several different "operating modes," each of which was appropriate in different contexts. This also necessarily created a need for a method of choosing between these modes. One solution is for the user to manage the task of mode determination, which may place unacceptable performance burdens on NavChair users with severe disabilities. Instead, a means for the NavChair to automatically choose the proper operating mode is being sought.

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