[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ Skip to main content

Advertisement

Springer Nature Link
Log in

Bringing proxemics to walker-assisted gait: using admittance control with spatial modulation to navigate in confined spaces

  • Original Article
  • Published:
Personal and Ubiquitous Computing Aims and scope Submit manuscript

Abstract

Smart walkers may be used to assist human navigation. However, social conventions and human behavior should be taken into consideration to allow their interaction with other people. This paper presents a navigation strategy for a smart walker with social conventions defined by proxemics, which uses an admittance controller to generate haptic and visual signals for a safe navigation within a corridor. This controller was validated in two experiments. The first one consisted of recreating, in a simulation environment, five typical situations that could occur in a corridor. The second experiment consisted of validating the controller in a real environment within the corridor. In this case, people generate uncontrolled situations in the corridor. This controller allowed a safe social navigation with a comfortable velocity of 0.244 m/s ± 0.1196.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20

Similar content being viewed by others

References

  1. Davis JC, Bryan S, Li LC, Best JR, Hsu CL, Gomez C, Vertes KA, Liu-Ambrose T (2015) Mobility and cognition are associated with wellbeing and health related quality of life among older adults: a cross-sectional analysis of the Vancouver Falls Prevention Cohort. BMC Geriatr 15:75

    Article  Google Scholar 

  2. Alexander NB, Goldberg A (2005) Gait disorders: search for multiple causes. Cleve Clin J Med 72(7):586–600

    Article  Google Scholar 

  3. Bemelmans R, Gelderblom GJ, Jonker P, de Witte L (2012) Socially assistive robots in elderly care: a systematic review into effects and effectiveness. J Am Med Dir Assoc 13(2):114–120

    Article  Google Scholar 

  4. United Nations and Department of Economic and Social Nations and Department of Economic and Social (2019) World population ageing 2019 - highlights

  5. Robinson H, MacDonald B, Broadbent E (2014) The role of healthcare robots for older people at home: a review. Int J Soc Robot 6(4):575–591

    Article  Google Scholar 

  6. Bradley SM, Hernandez CR, Sinai M, York N, York N (2011) Geriatric assistive devices. Robot Auton Syst 405–411

  7. Cifuentes CA, Frizera A (2016) Human-Robot interaction strategies for locomotion. Springer International Publishing Switzerland 2016

  8. Jiménez MF, Monllor M, Frizera A, Bastos T, Roberti F, Carelli R (2018) Admittance controller with spatial modulation for assisted locomotion using a smart walker. Journal of Intelligent and Robotic Systems: Theory and Applications, pp 1–17

  9. Werner C, Ullrich P, Geravand M, Peer A, Bauer JM, Hauer K (2017) A systematic review of study results reported for the evaluation of robotic rollators from the perspective of users. Disabil Rehab Assist Technol 0(0):1–12

    Google Scholar 

  10. Amirat Y, Daney D, Mohammed S, Spalanzani A, Chibani A, Simonin O (2016) Assistance and service robotics in a human environment. Robot Auton Syst 75:1–3

    Article  Google Scholar 

  11. Hall ET (1966) The hidden dimension. NY, Garden City

    Google Scholar 

  12. Marquardt N, Saul G (2015) Proxemic interactions: from theory to practice, vol 8. Morgan & Claypool Publishers, 1 edition

  13. Olqg IRU, Cibisakaravarthi R, Hari Priyanga R, Harshavarthini K (2020) Smart Stick for Blind People. In: 6th International Conference on Advanced Computing and Communication Systems (ICACCS), pp 65–67, Coimbatore

  14. Sarfraz MS, Constantinescu A, Zuzej M, Stiefelhagen R (2017) A multimodal assistive system for helping visually impaired in social interactions. Informatik-Spektrum 40(6):540–545

    Article  Google Scholar 

  15. Paulo J, Garrote L, Premebida C, Asvadi A, Almeida D, Lopes A, Peixoto P (2017) An innovative robotic walker for mobility assistance and lower limbs rehabilitation. In: Proceedings ENBENG 2017 - 5th Portuguese Meeting on Bioengineering

  16. Faria V, Silva J, Martins M, Santos C (2014) Dynamical system approach for obstacle avoidance in a smart walker device. In: 2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014, pp 261–266

  17. Werner C, Moustris GP, Tzafestas CS, Hauer K (2018) User-Oriented evaluation of a robotic rollator that provides navigation assistance in frail older adults with and without cognitive impairment. Gerontology 64(3):278–290

    Article  Google Scholar 

  18. Yu H, Spenko M, Dubowsky S (2003) An adaptive shared control system for an intelligent mobility aid for the elderly. Auton Robot 15:53–66

    Article  Google Scholar 

  19. Wasson G, Gunderson J, Graves S (2001) Effective shared control in cooperative mobility aids. In: Proceedings of the Fourteenth International Florida Artificial Intelligence Research Society Conference, vol 1, pp 1–5

  20. Naemeh N, Kazuhiro K (2005) User-environment based navigation algorithm for an omnidirectional passive walking aid system. In: Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics 2005, pp 178–181

  21. Andreas W, Pratik A, Mathias Z, Miguel RA, Knut M, Wolfram B (2016) Navigating blind people with walking impairments using a smart walker. Auton Robot 41(3):555–573

    Google Scholar 

  22. Moro F, Angeli AD, Fontanelli D, Passerone R, Prattichizzo D, Rizzon L, Scheggi S, Targher S, Luigi P (2016) Sensory stimulation for human guidance in robot walkers: a comparison between haptic and acoustic solutions. In: BT - IEEE International smart cities conference, ISC2 2016, Trento, Italy, September 12-15, 2016. pp 1–6

  23. Pons JL (2008) Wearable robots: biomechatronic exoskeletons. Wiley, Chichester UK

    Book  Google Scholar 

  24. Page S, Saint-Bauzel L, Rumeau P, Pasqui V (2017) Smart walkers: an application-oriented review. Robotica 35(06):1243–1262

    Article  Google Scholar 

  25. Pasteau F, Narayanan VK, Babel M, Chaumette F (2016) A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair. Robot Auton Syst 75:28–40

    Article  Google Scholar 

  26. Vishnu K, Narayanan FP, Maud M, Alexandre K, Marie B (2016) Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following. Comput Vis Image Underst 149:171–185

    Article  Google Scholar 

  27. Carelli R, Freire EO (2003) Corridor navigation and wall-following stable control for sonar-based mobile robots. Robot Auton Syst 45(3-4):235–247

    Article  Google Scholar 

  28. Beckerle P, Salvietti G, Unal R, Prattichizzo D, Rossi S, Castellini C, Hirche S, Endo S, Amor H B, Ciocarlie M, Mastrogiovanni F, Argall B D, Bianchi M (2017) A human-robot interaction perspective on assistive and rehabilitation robotics. Front Neurorobot 11(MAY):1–6

    Google Scholar 

  29. Aggravi M, Colombo A, Fontanelli D, Giannitrapani A, Macii D, Moro F, Nazemzadeh P, Palopoli L, Passerone R, Prattichizzo D, Rizano T, Rizzon L, Scheggi S (2015) DALi: a smart walking assistant for safe navigation in complex indoor environments. Biosyst Biorobotics 11:487–497

    Article  Google Scholar 

  30. Palopoli L, Argyros A, Birchbauer J, Colombo A, Fontanelli D, Legay A, Garulli A, Giannitrapani A, Macii D, Moro F, Nazemzadeh P, Padeleris P, Passerone R, Poier G, Prattichizzo D, Rizano T, Rizzon L, Scheggi S, Sedwards S (2015) Navigation assistance and guidance of older adults across complex public spaces : the DALi approach. Intel Serv Robotics 77–92

  31. Helbing D, Molnár P (1995) Social force model for pedestrian dynamics. Phys Rev E 51 (5):4282–4286

    Article  Google Scholar 

  32. Abir B, Souhila K, Nouara A, Noureddine O (2017) A social planning and navigation for tour-guide robot in human environment. In: Proceedings of 2016 8th International Conference on Modelling, Identification and Control. ICMIC 2016, pp 622–627

  33. Chiara P, Kenji S (2017) Feasibility study of a socially assistive humanoid robot for guiding elderly individuals during walking. Future Internet 9(3):1–16

    Google Scholar 

  34. Rios-Martinez J, Spalanzani A, Laugier C (2015) From proxemics theory to socially-aware navigation: a survey. Int J Soc Robot 7(2):137–153

    Article  Google Scholar 

  35. Irwin A, Joachim FW (1977) Human behavior and environment: advances in theory and research, Springer, US

  36. Morales Y, Miyashita T, Hagita N (2017) Social robotic wheelchair centered on passenger and pedestrian comfort. Robot Auton Syst 87:355–362

    Article  Google Scholar 

  37. Herrera D, Gimenez J, Monllor M, Roberti F, Carelli R (2019) Cognitive social zones for improving the pedestrian collision avoidance with mobile robots. Revista Politécnica 42:07–14. https://doi.org/10.33333/rp.vol42n2.1015

    Article  Google Scholar 

  38. Mead R, Matarić MJ (2017) Autonomous human–robot proxemics: socially aware navigation based on interaction potential. Auton Robot 41(5):1189–1201

    Article  Google Scholar 

  39. Birgit G (2001) Reactive navigation of an intelligent robotic walking aid. In: Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on, (March), pp 353–358

  40. Geravand M, Werner C, Hauer K, Peer A (2016) An integrated decision making approach for adaptive shared control of mobility assistance robots. Int J Soc Robot 8(5):631–648

    Article  Google Scholar 

  41. Sierra D, Sergio M, Garzón M, Múnera M, Cifuentes CA (2019) Human–robot–environment interaction interface for smart walker assisted gait: AGoRA walker. Sensors (Switzerland) 19(13):1–29

    Article  Google Scholar 

  42. Pacchierotti E, Christensen H, Jensfelt P (2006) Design of an office guide robot for social interaction studies. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 4965–4970

  43. Trung-Dung Ngo Xuan-Tung T (2018) To approach humans: A unified framework for approaching pose prediction and socially aware robot navigation. IEEE Transactions on Cognitive and Developmental Systems 10 (3):557–572

    Article  Google Scholar 

  44. Peng W (2016) Understanding social-force model in psychological principles of collective behavior. Masther thesis

  45. Leica P, Roberti F, Matías M, Toibero JM, Carelli R (2017) Control of bidirectional physical human–robot interaction based on the human intention. Intel Serv Robot 10:31–40

    Article  Google Scholar 

  46. Daszykowski M, Walczak B (1996) Density-based clustering methods. KDD-96 Proc 96 (34):226–231

    Google Scholar 

  47. Shen J, Hao X, Liang Z, Liu Y, Wang W, Shao L (2016) Real-Time Superpixel segmentation by DBSCAN clustering algorithm. IEEE Trans Image Proc 25(12):5933–5942

    Article  MathSciNet  MATH  Google Scholar 

  48. Ferrara R, Virdis SGP, Ventura A, Ghisu T, Duce P, Grazia P (2018) An automated approach for wood-leaf separation from terrestrial LIDAR point clouds using the density based clustering algorithm DBSCAN. Agric For Meteorol 262(May):434–444

    Article  Google Scholar 

  49. Becker RA, Keller-Mcnulty S, Becker RA, Keller-Mcnulty S (1994) Model comparisons and r2. Am Stat 48(2):113–117

    Google Scholar 

  50. Jiménez MF, Mello RC, Bastos T, Frizera A (2020) Assistive locomotion device with haptic feedback for guiding visually impaired people. Medical Engineerin & Physics

Download references

Funding

This research is supported by CAPES/Brazil (grant number 88887.095626 / 2015-01), FAPES/Brazil (grant number 80709036, 72982608) and CNPq/Brazil (grant number 304192 / 2016-3). The research leading to these results also received funding from the European Commission H2020 program under grant agreement no. 688941 (FUTEBOL), as well from the Brazilian Ministry of Science, Technology, Innovation, and Communication (MCTIC) through RNP and CTIC.

Author information

Authors and Affiliations

  1. School of Engineering, Science and Technology, Universidad del Rosario, 111711, Bogotá, Colombia

    Mario F. Jiménez

  2. Postgraduate Program in Electrical Engineering, Federal University of Espírito Santo, 29075-910, Vitoria, Brazil

    Wandercleyson Scheidegger, Ricardo C. Mello, Teodiano Bastos & Anselmo Frizera

Authors
  1. Mario F. Jiménez
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Wandercleyson Scheidegger
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Ricardo C. Mello
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Teodiano Bastos
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Anselmo Frizera
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mario F. Jiménez.

Ethics declarations

Conflict of Interest

The authors declare that they have no conflict of interest.

Additional information

Publisher’s note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Jiménez, M.F., Scheidegger, W., Mello, R.C. et al. Bringing proxemics to walker-assisted gait: using admittance control with spatial modulation to navigate in confined spaces. Pers Ubiquit Comput 26, 1491–1509 (2022). https://doi.org/10.1007/s00779-021-01521-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00779-021-01521-8

Keywords

Search

Navigation