• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2678-2686
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• 2002

A novel approach is developed for avoidance of obstacles in unknown environment. This paper proposes a new way of intelligent autonomous wheelchairs for the handicapped to move safely and comfortably. It is the objective of this paper to develop delayed time fuzzy control algorithms to deal with various obstacles. This new algorithm gives the benefit of the collision free movement in real time and optimal path to the moving target. The computer simulations and the experiments are demonstrated to the effect of the suggested control method.

• Journal of the Korea Society of Computer and Information
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• v.20 no.5
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• pp.83-89
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• 2015

we suggest a shopping cart system following the wheelchairs autonomously for the disabled to do shop easily. This system have been developed in order for a cart to follow the disabled using wheelchairs automatically without pulling a cart directly. This system use kinnect and an radio control car (RC-car). The kinnect detect whether movement of disabled is right turn, left turn or straight and according to this result the RC-car can be controlled autonomously. By this system, the disabled using wheelchairs can do shopping more easily than before.

• Journal of Internet of Things and Convergence
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• v.10 no.2
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• pp.69-75
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• 2024

This paper proposes an IoT-based indoor autonomous driving system that applies SLAM (Simultaneous Localization And Mapping) and Navigation techniques in a ROS (Robot Operating System) environment based on TurtleBot3. The proposed autonomous driving system can be applied to indoor autonomous wheelchairs and robots. In this study, the operation was verified by applying it to an indoor self-driving wheelchair. The proposed autonomous driving system provides two functions. First, indoor environment information is collected and stored, which allows the wheelchair to recognize obstacles. By performing navigation using the map created through this, the rider can move to the desired location through autonomous driving of the wheelchair. Second, it provides the ability to track and move a specific logo through image recognition using OpenCV. Through this, information services can be received from guides wearing uniforms with the organization's unique logo. The proposed system is expected to provide convenience to passengers by improving mobility, safety, and usability over existing wheelchairs.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.674-684
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• 2011

More and more elderly and disabled people are using electric scooters instead of electric wheelchairs because of higher mobility. However, people with high levels of impairment or the elderly still have difficulties in driving the electric scooters safely. Semi-autonomous electric scooter system is one of the solutions for the safety: Either manual driving or autonomous driving can be used selectively. In this paper, we implement a semi-autonomous electric scooter system with functions of localization and path following. In order to recognize the pose of electric scooter in outdoor environments, we design an outdoor localization system based on the extended Kalman filter using DGPS (Differential Global Positioning System) and wheel encoders. We added an accelerometer to make the localization system adaptable to road condition. Also we propose a path following algorithm using two arcs with current pose of the electric scooter and a given path in the map. Simulation results are described to show that the proposed algorithms provide the ability to drive an electric scooter semi-autonomously. Finally, we conduct outdoor experiments to reveal the practicality of the proposed system.

• Journal of the Ergonomics Society of Korea
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• v.33 no.5
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• pp.407-422
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• 2014

Objective: The purpose of the study is to develop quantitative usability evaluation criteria for senior-friendly autonomous transportation robot. Background: The Republic of Korea has become the most rapidly aging society, and is anticipated to enter the post-aged society in 2026. To raise the quality of life of a senior with limited mobility and to reduce the burden of caregivers, many high-tech assistive products with information technologies are developed nowadays. The senior-friendly autonomous transportation robot is one person robot vehicle to move a senior to the destination for hospitals, nursing homes or silver town complex. With built-in navigation system and environmental monitoring censors, it automatically seeks the path to the destination and avoids collision to obstacles and pedestrians on the way. Due to the early stage of the product, few usability studies in this field have been done, mostly on general service robots to assist seniors, power wheelchairs and delivery robots. ISO and KS standards for the service robots are focused on safety. Method: Based on the reference usability index, the early draft of the usability evaluation questionnaires was developed. After small group tests and interviews, the experts modified the initial draft to the Usability Evaluation Criteria for Senior-Friendly Autonomous Transportation Robot (UEC-SFATR). Result: UEC-SFATR consisted of 4 subscales - Safety, Controllability, Efficiency and Satisfaction. All of the 4 subscales of UEC-SFATR were passed the reliability criteria by 4 groups of seniors, divided by gender and familiarity of smart-devices. Conclusion: UEC-SFATR covers wider area of user experiences of the SFATR and is a good measurement tool to help both the users and developers of the robot. Application: This study provides guide to the future product development and product competitiveness evaluation by quantifying user experiences for the SFATR.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.1
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• pp.17-27
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• 2012

This study provides development information on Omni-Wheel Drive Rider Robot, futuristic electric scooters, with autonomous driving systems that are used for people including the disabled and senior. Also, it is meaningful in suggesting alternatives to replace motorized wheelchairs or electric scooters for the future. Prior to development of Omni-Wheel Drive Rider Robot with autonomous driving systems, it surveyed 49 people, including 18 people who own electric scooters and 31 senior people who have not. The summary of the survey is as follows. First, inconveniences during riding and exiting and short mileage due and safety driving to problems of recharging batteries are the most urgent task. For these problems, the study shows that charging time of batteries, mileage, armrests, footrests, angle of a seat are the primary considerations. Second, drivers prefer joystick over steering wheels because of convenience in one-handed driving against dangers from footrest and carriageways sloping roads, paving blocks. One-handed driving can reduce driving fatigues with automatic stop systems. Moreover, the study suggests many design factors related to navigation systems, obstacle avoidance systems, omni-wheels, automatic cover-opening systems in rainy.