Assistive robots operate in complex environments and in presence of human beings, as such they are influenced by several factors which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions or algorithmic errors represent just few examples. When the safety of the user must be guaranteed, a possible solution is to rely on a human-in-the-loop approach, e.g. to monitor if the robot performs a wrong action or environmental conditions affect safety during the interaction, and provide a feedback accordingly. The proposed work presents a human supervised smart wheelchair, i.e. an electric powered wheelchair with semiautonomous navigation capabilities of elaborating a path planning, whose user is equipped with a Brain Computer Interface (BCI) to provide safety feedbacks. During the wheelchair navigation towards a desired destination in an indoor scenario, possible problems (e.g. obstacles) along the trajectory cause the generation of error-related potentials signals (ErrPs) when noticed by the user. These signals are captured by the interface and are used to provide a feedback to the navigation task, in order to preserve safety and avoiding possible navigation issues modifying the trajectory planning.

Human-in-the-Loop Approach to Safe Navigation of a Smart Wheelchair via Brain Computer Interface

Ciabattoni L.;Ferracuti F.;Freddi A.;Iarlori S.;Longhi S.;Monteriu' A.
2021

Abstract

Assistive robots operate in complex environments and in presence of human beings, as such they are influenced by several factors which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions or algorithmic errors represent just few examples. When the safety of the user must be guaranteed, a possible solution is to rely on a human-in-the-loop approach, e.g. to monitor if the robot performs a wrong action or environmental conditions affect safety during the interaction, and provide a feedback accordingly. The proposed work presents a human supervised smart wheelchair, i.e. an electric powered wheelchair with semiautonomous navigation capabilities of elaborating a path planning, whose user is equipped with a Brain Computer Interface (BCI) to provide safety feedbacks. During the wheelchair navigation towards a desired destination in an indoor scenario, possible problems (e.g. obstacles) along the trajectory cause the generation of error-related potentials signals (ErrPs) when noticed by the user. These signals are captured by the interface and are used to provide a feedback to the navigation task, in order to preserve safety and avoiding possible navigation issues modifying the trajectory planning.
978-3-030-63106-2
978-3-030-63107-9
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11566/289263
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