Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
//

Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
//

Location

 

1014Electrical EngineeringSouth Kensington Campus

//

Summary

 

Publications

Citation

BibTex format

@article{Carlson:2012:10.1109/TSMCB.2011.2181833,
author = {Carlson, T and Demiris, Y},
doi = {10.1109/TSMCB.2011.2181833},
journal = {IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics},
pages = {876--888},
title = {Collaborative Control of a Robotic Wheelchair: Evaluation of Performance, Attention and Workload},
url = {http://dx.doi.org/10.1109/TSMCB.2011.2181833},
volume = {42},
year = {2012}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - Powered wheelchair users often struggle to drive safely and effectively and, in more critical cases, can only get around when accompanied by an assistant. To address these issues, we propose a collaborative control mechanism that assists users as and when they require help. The system uses a multiple-hypothesis method to predict the driver's intentions and, if necessary, adjusts the control signals to achieve the desired goal safely. The main emphasis of this paper is on a comprehensive evaluation, where we not only look at the system performance but also, perhaps more importantly, characterize the user performance in an experiment that combines eye tracking with a secondary task. Without assistance, participants experienced multiple collisions while driving around the predefined route. Conversely, when they were assisted by the collaborative controller, not only did they drive more safely but also they were able to pay less attention to their driving, resulting in a reduced cognitive workload. We discuss the importance of these results and their implications for other applications of shared control, such as brain-machine interfaces, where it could be used to compensate for both the low frequency and the low resolution of the user input.
AU - Carlson,T
AU - Demiris,Y
DO - 10.1109/TSMCB.2011.2181833
EP - 888
PY - 2012///
SN - 1083-4419
SP - 876
TI - Collaborative Control of a Robotic Wheelchair: Evaluation of Performance, Attention and Workload
T2 - IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics
UR - http://dx.doi.org/10.1109/TSMCB.2011.2181833
UR - http://www.iis.ee.ic.ac.uk/yiannis
UR - http://hdl.handle.net/10044/1/12615
VL - 42
ER -