Assistive locomotion device with haptic feedback for guiding visually impaired people. (June 2020)

• Record Type: Journal Article
• Authors: Jiménez, Mario F.; Mello, Ricardo C.; Bastos, Teodiano; Frizera, Anselmo
• Is Part Of: Medical engineering & physics. Volume 80(2020)
• Page Start: 18
• Page End: 25
• Publication Date: 2020-06
• Subjects: Admittance control -- Visual impairment -- Haptic feedback -- Smart walker; Biomedical engineering -- Periodicals; Biomedical Engineering -- Periodicals; Physics -- Periodicals; Génie biomédical -- Périodiques; Biomedical engineering; Electronic journals; Periodicals; 610.28
• DOI: 10.1016/j.medengphy.2020.04.002
• Languages: English
• ISSNs: 1350-4533

Abstract

Highlights: Proposal and validation of a Human-Robot Interaction strategy using force sensors to recognize the human motion intention in a Smart Walker. Use of the physical contact between the user and the Smart Walker to generate a haptic feedback which indicates the path that should be followed by the user. Development of a control strategy to guide visually impaired people through a predetermined path using haptic feedback. Abstract: 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.