Assistive locomotion device with haptic feedback for guiding visually impaired people

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dc.contributor.authorJiménez Hernández, Mario Fernando
dc.contributor.authorMello, Ricardo
dc.contributor.authorBastos, Teodiano
dc.contributor.authorFrizera Neto, Anselmo
dc.contributor.orcidJiménez Hernández, Mario Fernando [0000-0003-0965-277X]
dc.date.accessioned2020-06-16T17:48:48Z
dc.date.available2020-06-16T17:48:48Z
dc.date.issued2020
dc.description.abstractenglishAbstract Robotic assistive devices are able to enhance physical stability and balance. Smart walkers, in particular, are also capable of offering cognitive support for individuals whom conventional walkers are unsuitable. However, visually impaired individuals often need additional sensorial assistance from those devices. This work proposes a smart walker with an admittance controller for guiding visually impaired individuals along a desired path. The controller uses as inputs the physical interaction between the user and the walker to provide haptic feedback hinting the path to be followed. Such controller is validated in a set of experiments with healthy individuals. At first, users were blindfolded during navigation to assess the capacity of the smart walker in providing guidance without visual input. Then, the blindfold is removed and the focus is on evaluating the human-robot interaction when the user had visual information during navigation. The results indicate that the admittance controller design and the design of the guidance path were factors impacting on the level of comfort reported by users. In addition, when the user was blindfolded, the linear velocity assumed lower values than when did not wear it, from a mean value of 0.19 m/s to 0.21 m/s.eng
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.1016/j.medengphy.2020.04.002
dc.identifier.instnameinstname:Universidad El Bosquespa
dc.identifier.issn1873-4030
dc.identifier.reponamereponame:Repositorio Institucional Universidad El Bosquespa
dc.identifier.repourlhttps://repositorio.unbosque.edu.co
dc.identifier.urihttps://hdl.handle.net/20.500.12495/3191
dc.language.isoeng
dc.publisher.journalMedical engineering and physicsspa
dc.relation.ispartofseriesMedical engineering and physics, 1873-4030, Vol. 80, 2020, p. 18-25spa
dc.relation.urihttps://www.sciencedirect.com/science/article/abs/pii/S1350453320300515
dc.rights.accessrightshttps://purl.org/coar/access_right/c_abf2
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.accessrightsAcceso abierto
dc.rights.creativecommons2020-04-05
dc.rights.localAcceso abiertospa
dc.subject.decsRobóticaspa
dc.subject.decsInteligencia artificialspa
dc.subject.decsRetroalimentación sensorialspa
dc.subject.keywordsAdmittance controlspa
dc.subject.keywordsVisual impairmentspa
dc.subject.keywordsHaptic feedbackspa
dc.titleAssistive locomotion device with haptic feedback for guiding visually impaired peoplespa
dc.title.translatedAssistive locomotion device with haptic feedback for guiding visually impaired peoplespa
dc.type.coarhttps://purl.org/coar/resource_type/c_6501
dc.type.driverinfo:eu-repo/semantics/article
dc.type.hasversioninfo:eu-repo/semantics/publishedVersion
dc.type.localArtículo de revista

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