Levine S P, Bell D A, Jaros L A, Simpson R C, Koren Y, Borenstein J
Department of Physical Medicine and Rehabilitation and Biomedical Engineering, University of Michigan, Ann Arbor 48109, USA.
IEEE Trans Rehabil Eng. 1999 Dec;7(4):443-51. doi: 10.1109/86.808948.
The NavChair Assistive Wheelchair Navigation System [19] is being developed to reduce the cognitive and physical requirements of operating a power wheelchair for people with wide ranging impairments that limit their access to powered mobility. The NavChair is based on a commercial wheelchair system with the addition of a DOS-based computer system, ultrasonic sensors, and an interface module interposed between the joystick and power module of the wheelchair. The obstacle avoidance routines used by the NavChair in conjunction with the ultrasonic sensors are modifications of methods originally used in mobile robotics research. The NavChair currently employs three operating modes: general obstacle avoidance, door passage, and automatic wall following. Results from performance testing of these three operating modes demonstrate their functionality. In additional to advancing the technology of smart wheelchairs, the NavChair has application to the development and testing of "shared control" systems where a human and machine share control of a system and the machine can automatically adapt to human behaviors.
NavChair辅助轮椅导航系统[19]正在研发中，旨在降低操作电动轮椅对认知和身体的要求，适用对象为因各种损伤而限制其使用电动移动设备的人群。NavChair基于一个商用轮椅系统，增加了一个基于DOS的计算机系统、超声波传感器以及一个介于轮椅操纵杆和动力模块之间的接口模块。NavChair结合超声波传感器使用的避障程序是对移动机器人研究中最初使用的方法的改进。NavChair目前采用三种操作模式：一般避障、通过门和自动沿墙跟随。这三种操作模式的性能测试结果证明了它们的功能。除了推动智能轮椅技术的发展，NavChair还可应用于“共享控制”系统的开发和测试，在该系统中，人与机器共享对系统的控制，并且机器可以自动适应人类行为。
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