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Zolotas M, Elsdon J, Demiris Y, Head-mounted augmented reality for explainable robotic wheelchair assistance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE
Robotic wheelchairs with built-in assistive fea-tures, such as shared control, are an emerging means ofproviding independent mobility to severely disabled individuals.However, patients often struggle to build a mental model oftheir wheelchair’s behaviour under different environmentalconditions. Motivated by the desire to help users bridge thisgap in perception, we propose a novel augmented realitysystem using a Microsoft Hololens as a head-mounted aid forwheelchair navigation. The system displays visual feedback tothe wearer as a way of explaining the underlying dynamicsof the wheelchair’s shared controller and its predicted futurestates. To investigate the influence of different interface designoptions, a pilot study was also conducted. We evaluated theacceptance rate and learning curve of an immersive wheelchairtraining regime, revealing preliminary insights into the potentialbeneficial and adverse nature of different augmented realitycues for assistive navigation. In particular, we demonstrate thatcare should be taken in the presentation of information, witheffort-reducing cues for augmented information acquisition (forexample, a rear-view display) being the most appreciated.
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