Name: WANDERCLEYSON MARCHIORI SCHEIDEGGER
Type: MSc dissertation
Publication date: 23/12/2020
Advisor:
Name |
Role |
|---|---|
| ANSELMO FRIZERA NETO | Advisor * |
Examining board:
| Name |
Role |
|---|---|
| ANSELMO FRIZERA NETO | Advisor * |
| MARIO FERNANDO JIMENEZ HERNANDEZ | External Examiner * |
| TEODIANO FREIRE BASTOS FILHO | Internal Examiner * |
Summary: This work presents a strategy of multimodal human-robot-environment interaction for walking assisted by a robotic walker. The strategy aims to meet the needs of users with unbalanced or inconsistent support and interaction forces, in addition to allowing safe navigation and social interaction with other individuals in the environment. Is presented here the Smart Walker Ufes CloudWalker, all component subsystems, in addition to a brief introduction to the mechanical design developed. The Human-Robot-Environment strategy is based on four communication channels: a visual channel, processing the video
acquired by a camera, that points towards the users face; another visual channel, which processes the video acquired by a camera, positioned on the LRF (Laser Range Finder) sensor, facing the environment ahead, in order to insert context into the scene; an active range channel, based on the data measured by an LRF sensor directed to the users lower limbs and another active range channel, based on the data acquired by another LRF sensor, positioned in front of the walker, which scans the environment. An accuracy of
87,5 % in the classification of objects on the scene and the good aneuverability of the SW, using the proposed strategy, maintaining an average speed of 0.25±0.05m/s, even in curves with right angles point to the feasibility of using this interaction strategy in the Ufes CloudWalker.
Keywords: CloudWalker, smart walker, assistive devices, multimodal interaction
