Mobile robotics and mobility assistance for people with motor impairments: rational justification for the VAHM project

Abstract

The VAHM project aims to improve the control of powered wheelchairs by adding possibilities of autonomous mobility. We propose specifications which are based on a detailed study of similar projects described in specialized publications. Three operating modes are defined in order to adapt the system to a great diversity of situations. In the autonomous mode a global trajectory is planned, and the user then intervenes to point the goal and, if need be, stop a motion during its execution. The assisted manual mode allows access to local primitives like a wall following. Finally, in the manual mode, we find the classical control of a powered wheelchair again. The first results of the technical evaluation are discussed in the conclusion.