Accession Number : AD1045901


Title :   Prediction of User Preference over Shared-Control Paradigms for a Robotic Wheelchair


Descriptive Note : Conference Paper


Corporate Author : NORTHWESTERN UNIV EVANSTON IL EVANSTON United States


Personal Author(s) : Erdogan,Ahmetcan ; Argall,Brenna D


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1045901.pdf


Report Date : 20 Jul 2017


Pagination or Media Count : 7


Abstract : The design of intelligent powered wheelchairs has traditionally focused heavily on providing effective and efficient navigation assistance. Significantly less attention has been given to the end-user's preference between different assistance paradigms. It is possible to include these subjective evaluations in the design process, for example by soliciting feedback in post-experiment questionnaires. However, constantly querying the user for feedback during real-world operation is not practical. In this paper, we present a model that correlates objective performance metrics and subjective evaluations of autonomous wheelchair control paradigms. Using off-the-shelf machine learning techniques, we show that it is possible to build a model that can predict the most preferred shared-control method from task execution metrics such as effort, safety, performance and utilization. We further characterize the relative contributions of each of these metrics to the individual choice of most preferred assistance paradigm. Our evaluation includes Spinal Cord Injured (SCI) and uninjured subject groups. The results show that our proposed correlation model enables the continuous tracking of user preference and offers the possibility of autonomy that is customized to each user.


Descriptors :   machine learning , Robotics , feedback , NAVIGATION , WHEEL CHAIRS


Subject Categories : Cybernetics
      Medical Facilities, Equipment and Supplies


Distribution Statement : APPROVED FOR PUBLIC RELEASE