Skip to Main content Skip to Navigation
New interface
Journal articles

Assisting power wheelchair driving on a sidewalk: A proof of concept

Abstract : The use of a power wheelchair allows to maintain mobility by providing better access to daily activities and thus positive impact on the quality of life. However, driving a power wheelchair is a complex task, particularly within an environment consisting of negative obstacles (e.g. steps, sidewalk edges). In this context, falling accidents can occur while driving a power wheelchair on a sidewalk. Therefore, driving assistance is required to prevent from falling off a curb edge. In order to meet these expectations, we here propose a semi-autonomous shared control framework assisting the user while driving on a sidewalk. We present simulations as well as an experiment carried out with our system embedded on a standard wheelchair. In both cases, our method allows progressive velocity adaptation when approaching a curb edge resulting in the wheelchair avoiding the risk of falling. The obtained results thus provide a proof of concept of our method.
Document type :
Journal articles
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Thursday, May 9, 2019 - 8:37:15 PM
Last modification on : Friday, August 5, 2022 - 2:54:52 PM
Long-term archiving on: : Tuesday, October 1, 2019 - 11:51:30 AM


Files produced by the author(s)



Louise Devigne, François Pasteau, Nicolas Le Borgne, Marie Babel, Tom Carlson, et al.. Assisting power wheelchair driving on a sidewalk: A proof of concept. Modelling, measurement and control C, 2018, 79 (4), pp.185-189. ⟨10.18280/mmc_c.790406⟩. ⟨hal-02124782⟩



Record views


Files downloads