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| META TOPICPARENT |
name="BikramAdhikari" |
CPSC 543 Project - Third Iteration |
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Fig[3] Shared Control using direction control (left: occupancy map showing PWC trajectory; right: time series plot showing control signals) |
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< | Wizard of Oz interfaces have drawn interest in research community as a tool to train novice elderly PWC users. Problems associated with unintuitive guidance (in speed control policy) and switching discontinuity (in direction control) make it difficult for novice elderly PWC user to comprehend PWC behavior. In this project, we intend to bridge this discontinuity in direction control policy and lack of direction guidance in speed control policy. We integrate, speed control with steering guidance using shear force on a custom designed low cost joystick handle. This form of guidance has not been tested before. We hypothesize that, our proposed shared control strategy will keep the user in control at all times and provide assistance when the user is unclear about suitable driving direction. |
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> | Wizard of Oz interfaces have drawn interest in research community as a tool to train novice elderly PWC users. Problems associated with unintuitive guidance (in speed control policy) and switching discontinuity (in direction control) make it difficult for novice elderly PWC user to comprehend PWC behavior. In this project, we intend to bridge this discontinuity in direction control policy and lack of direction guidance in speed control policy. We integrate, speed control with steering guidance rendered as shear force on a custom designed low cost joystick handle. This shear force rendering does not require the joystick to be bulky to have a high torque. We rather position the shear force actuator at a suitable location requiring minimal torque. This shear force form of guidance has not been tested before on PWCs. We hypothesize that, our proposed shared control strategy will keep the user in control at all times and provide assistance when the user is unclear about suitable driving direction. |
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< | Our first and second design iterations focused on exploring the problem space and possible technical solution space. We leave the discussion on findings from the iteration for final report. In the next section, we describe an experiment we propose to conduct to test the |
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> | Our first and second design iterations focused on exploring the problem space and possible technical solution space respectively. We leave the discussion on findings from these iterations on our final report. In the next section, we describe an experiment we propose to test our joystick interface and the proposed control strategy. |
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Experimental Setup |
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