© 2012

Collaborative Assistive Robot for Mobility Enhancement (CARMEN)

The bare necessities: assisted wheelchair navigation and beyond

  • Casual and desriptive handbook to robotic wheelchair construction, plus a new method to support wheelchair based person-mobility through collaborative control

  • The specifics of experiments at hospitals are described in the book as well and has been tested in a real hospital

  • Written by a leading expert in the field


Part of the Intelligent Systems Reference Library book series (ISRL, volume 27)

Table of contents

  1. Front Matter
    Pages 1-11
  2. Cristina Urdiales
    Pages 1-18
  3. Cristina Urdiales
    Pages 41-66
  4. Cristina Urdiales
    Pages 67-92
  5. Cristina Urdiales
    Pages 93-115
  6. Cristina Urdiales
    Pages 117-144
  7. Cristina Urdiales
    Pages 145-180
  8. Cristina Urdiales
    Pages 181-196
  9. Back Matter
    Pages 0--1

About this book


In nowadays aging society, many people require mobility assistance. Sometimes, assistive devices need a certain degree of autonomy when users' disabilities difficult manual control. However, clinicians report that excessive assistance may lead to loss of residual skills and frustration. Shared control focuses on deciding when users need help and providing it. Collaborative control aims at giving just the right amount of help in a transparent, seamless way.

This book presents the collaborative control paradigm. User performance may be indicative of physical/cognitive condition, so it is used to decide how much help is needed. Besides, collaborative control integrates machine and user commands so that people contribute to self-motion at all times.

Collaborative control was extensively tested for 3 years using a robotized wheelchair at a rehabilitation hospital in Rome with volunteer inpatients presenting different disabilities, ranging from mild to severe. We also present a taxonomy of common metrics for wheelchair navigation and tests are evaluated accordingly. Obtained results are coherent both from a quantitative and qualitative point of view.


Adaptive Assitance Assistive Technology Colaborative Control Computational Intelligence Learning and Adaptation Robotic Wheelchairs

Authors and affiliations

  1. 1.ETSI TelecomunicacionMálagaSpain

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