An adaptive shared control system for an intelligent mobility aid for the elderly

Autonomous Robots

Volumn 15, Issue 1, 2003, Pages 53-66

  Yu, Haoyong ^a   Spenko, Matthew ^a   Dubowsky, Steven ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

Adaptive; Control; Elderly; PAMM; Shared

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COGNITIVE SYSTEMS; HEURISTIC METHODS; HUMAN COMPUTER INTERACTION; MOBILE ROBOTS; PATIENT MONITORING;

INTELLIGENT MOBILITY;

ROBOT APPLICATIONS;

EID: 0041340855     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1024488717009     Document Type: Article

References (31)

1. ALFA Advisor (New Letter). 1995. New Report Offers Draft Regulations for Assisted Living for People with Dementia. ALFA (The Assisted Living Federation of America) Advisor, pp. 1-2.
2. Al-Jarrah, O.M. and Zheng, Y.F. 1997. Arm-manipulator coordination for load sharing using variable compliance control. In Proceedings of 1997 IEEE International Conference on Robotics and Automation (Vol. 1), Albuquerque, New Mexico, pp. 895-900.
3. AOA (Administration on Aging, U.S. Department of Health and Human Services), A Profile of Older Americans, 2001.
4. Baltus, G. et al. 2000. Towards personal service robots for the elderly. In Proceeding of the 2000 Workshop on Interactive Robotics and Entertainment (WIRE-2000), Pittsburgh.
5. Burton, L.J. 1997. A Shoulder to Lean on: Assisted Living in the U.S. American Demographics, pp. 45-51.
6. Cooper, R. 1995. Intelligent control of power wheelchairs. IEEE Engineering in Medicine and Biology, pp. 423-431.
7. D'Arrigo, C. 2001. Health monitoring sensors for a personal mobility aid for the elderly. Master Thesis. Department of Mechanical Engineering. Massachusetts Institute of Technology.
8. Dubowsky, S. 1997. Personal Aid for Mobility and Monitoring: A Helping Hand for the Elderly, PAMM Concept Study, MIT Home Automation and Healthcare Consortium.
9. Dubowsky, S. and Deforges, D. 1979. The application of model-referenced adaptive control of robotic manipulators. ASME Journal of Dynamic Systems, Measurement, and Control, 101(3): 193-200.
10. Dubowsky, S., Genot, F., Godding, S., Kozono, H., Skwersky, A., Yu, L., and Yu, H. 2000. PAMM - A robotic aid to the elderly for mobility assistance and monitoring: A helping-hand for the elderly. In Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 22-28.
11. Durfee, W.K., Idris, H.R., and Dubowsky, S. 1991. Real-time control of the MIT vehicle emulation system. In Proceedings of the 1991 American Control Conference, Boston, MA, June 26-28.
12. Godding, S. 1999. Field tests on a personal mobility aid for the elderly. Bachelor Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
13. Graf, B. 2001. Reactive navigation of an intelligent robot walking aid. In Proceedings of the IEEE International Workshop on Robot and Human Interaction, RO-MAN 2001, Bordeaux-Paris, France, pp. 353-358.
14. Graf, B. and Hägele, M. 2001. Dependable interaction with an intelligent home care robot. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26.
15. Kozono, H. 2000. PAMM SmartWalker electronics and computer manual. Field and Space Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology.
16. Lacey, G. and Dawson-Howe, K.M. 1998. The application of robotics to a mobility aid for the elderly blind. Robotics and Automation Systems, 23(4):245-252.
17. Lacey, G. and MacNamara, S. 2000. User involvement in the design and evaluation of a smart mobility aid. Journal of Rehabilitation Research and Development, 37(6).
18. Levine, S.P., Bell, D.A., Jaros, L.A., Simpson, R.C., Koren, Y., and Borenstein, J. 1999. The NavChair assistive wheelchair navigation system. IEEE Transactions on Rehabilitation Engineering, 74:443-451.
19. Mori, H. and Kotani, S. 1998. A robotic travel aid for the blind - Attention and custom for safe behavior. International Symposium of Robotics Research, Springer-Verlag, pp. 237-245.
20. Narendra, K.S. and Annaswamy, A.M. 1989. Stable Adaptive Systems, Prentice Hall, Englewood Cliffs, N.J.
21. Nemoto et al. 1999. Power assist control for walking support system. In Proceedings of the Ninth International Conference on Advanced Robotics, Tokyo, Japan, pp. 15-18.
22. Papadopoulos, E.G. and Rey, D.A. 1996. A new measure of tipover stability margin for mobile manipulators. In Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 3111-3116.
23. Schneider, E.L. 1999. Aging in the third millennium. Science, 283(54003):796-797.
24. Schraft, R.D., Schaeffer, C., and May, T. 1998. Care-O-bot(tm): The concept of a system for assisting elderly or disabled persons in home environments. In IECON'98: Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Vol. 4), Aachen, Germany, pp. 2476-2481.
25. Sheridan, T.B. 1992. Telerobotics, Automation, and Human Supervisory Control, The MIT Press, Cambridge, MA.
26. Simpson, R.C. and Levine, S.P. 1999. Automatic adaptation in the NavChair assistive wheelchair navigation system. IEEE Transactions on Rehabilitation Engineering, 74:452-463.
27. Spenko, M. 2001. Design and analysis of the SmartWalker, a mobility aid for the elderly. Master Thesis. Department of Mechanical Engineering, Massachusetts Institute of Technology.
28. Spenko, M., Yu, H., and Dubowsky, S. 2002. Analysis and design of an omni directional platform for operation on non-ideal floors. In Proceedings of 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 11-15.
29. Wasson, G., Gunderson, J., Graves, S., and Felder, R. 2001. An assistive robotic agent for pedestrian mobility. In International Conference on Autonomous Agents: AGENTS'01, Montreal, Quebec, Canada, pp. 169-173.
30. Yu, H., Dubowsky, S., and Skwersky, A. 2000. Omni-directional mobility using active split offset castors. In Proceedings of 2000 ASME IDETC/CIE 26th Biennial Mechanics and Robotics Conference, Baltimore, Maryland, September 10-13.
31. Yu, H. 2000. Mobility design and control of personal mobility aids for the elderly. Ph.D. Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.