同伴者の振舞いの観察に基づいて自動併走するロボット車椅子  [in Japanese] Robotic Wheelchair Moving Along Companions Based on Observations of Bodily Behaviors  [in Japanese]

Access this Article

Search this Article

Abstract

高齢化社会の進行にともない,少ない人材で効率的な介護が行えるように,ある程度の自律移動を行う知的車椅子の開発が求められている.本稿では,同伴者と車椅子利用者が並んで移動できることがコミュニケーションの観点から重要であると考え,同伴者とスムーズに併進できるロボット車椅子を提案する.車椅子が同伴者と併進する状況では,同伴者の車椅子側への進路変更を円滑に行うために,同伴者の進みたい方向をすみやかに察知して車椅子を制御する必要がある.そこで,本稿では,レーザ測域センサを用いて同伴者の行動を計測する手法を新たに開発し,計測した同伴者の身体の向きの情報を車椅子の制御に利用することで,同伴者とスムーズに併進できるロボット車椅子を開発した.実際の高齢者施設での実験とアンケート調査により,本システムの有用性を確認した.Recently, several robotic wheelchairs have been proposed that employ user-friendly interfaces or autonomous functions. Although it is desirable for users to operate wheelchairs on their own, they are often accompanied by a companion. In designing wheelchairs, therefore, it is also important to reduce the companion load. In this paper we propose a new robotic wheelchair that can move with a companion side by side to support their communication. In contrast to a front-behind position, in a side-by-side position it is more difficult for wheelchairs to adjust its position when the companion makes a turn. To cope with this problem we present a new people tracking technique using a laser range sensor to observe the companion's bodily behaviors. A particle filter is employed to track the companion's position and orientation of body based on the range data. We confirm that our robotic wheelchair can move smoothly with a companion side by side by using a body orientation of the companion. We conducted the experiments at an actual elderly care facilities to confirm the effectiveness of our robotic wheelchair.

Recently, several robotic wheelchairs have been proposed that employ user-friendly interfaces or autonomous functions. Although it is desirable for users to operate wheelchairs on their own, they are often accompanied by a companion. In designing wheelchairs, therefore, it is also important to reduce the companion load. In this paper we propose a new robotic wheelchair that can move with a companion side by side to support their communication. In contrast to a front-behind position, in a side-by-side position it is more difficult for wheelchairs to adjust its position when the companion makes a turn. To cope with this problem we present a new people tracking technique using a laser range sensor to observe the companion's bodily behaviors. A particle filter is employed to track the companion's position and orientation of body based on the range data. We confirm that our robotic wheelchair can move smoothly with a companion side by side by using a body orientation of the companion. We conducted the experiments at an actual elderly care facilities to confirm the effectiveness of our robotic wheelchair.

Journal

  • 情報処理学会論文誌

    情報処理学会論文誌 53(7), 1687-1697, 2012-07-15

    情報処理学会

Codes

  • NII Article ID (NAID)
    110009423537
  • NII NACSIS-CAT ID (NCID)
    AN00116647
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    1882-7764
  • NDL Article ID
    023829857
  • NDL Call No.
    YH247-743
  • Data Source
    NDL  NII-ELS  IPSJ 
Page Top