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| META TOPICPARENT |
name="BikramAdhikari" |
CPSC 543 Project - Third Iteration |
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It is difficult to recruit a large number of wheelchair users on the target demographics which makes it difficult to produce statistically significant results [11],[12]. As [10] and [11], we will use able-bodied users to evaluate the performance of our system. Future work will include a case study with an user from the target population. |
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<
< | For our experiment, we choose one scenario representative of the activities of daily living of our target population. The Power-Moblity Indoor Driving Assessment (PIDA) is an assessment tool designed to describe an individuals indoor mobility status. This assesment is conducted in their own environment rather than an isolated obstacle course. Out of thirty tasks specified on the PIDA, we are particularly interested in back-in parking task as it involves driving in all directions, under limited visibility and apparently complicated/confusion joystick motion. |
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> | For our experiment, we choose one scenario representative of the activities of daily living of our target population. The Power-Moblity Indoor Driving Assessment (PIDA) is an assessment tool designed to describe an individuals indoor mobility status. This assessment is conducted in their own environment rather than an isolated obstacle course. Out of thirty tasks specified on the PIDA, we are particularly interested in back-in parking task as it involves driving in all directions, under limited visibility and apparently complicated/confusion joystick motion. |
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We will test three shared control policies; speed control, direction control, speed control with direction guidance to determine which policy is most effective from users point of view and how each control policy effect quantitative measures such as completion time and trajectory smoothness. |
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Iteration #3 : A technical perspective |
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< | In this iteration, we planned to refine the haptic display using shear force. We also planned to integrate visual and haptic displays together into a single system. Our first version of assembled visual, haptic display was presented last week during our meeting. We rendered trajectory displayed on a processing gui on to the joystick handle through serial interface in Arduino. The rendered steering guidance feature was perceivable and hence offered some proof of concept. Next, we would like to implement the Since Robot Operating System (ROS) also uses serial interface to communicate with the Arduino, communicating between processing, arduino and ROS was not possible. As suggested during last week meeting, we spent sometime exploring shared memory to interface between these three nodes but were not successful at achieving that within the time frame. Hence, we pursued to understanding and identifying an experimental setup which would be achievable. Hence, we came up with the experimental setup as described above. We are currently working on integrating the Joystick handle to the PWC via ROS. We expect to have an experimental setup ready before presentation. |
>
> | In this iteration, we planned to refine the haptic display using shear force. We also planned to integrate visual and haptic displays together into a single system. Our first version of assembled visual, haptic display was presented last week during our meeting. We rendered trajectory displayed on a processing gui on to the joystick handle through serial interface in Arduino. The rendered steering guidance feature was perceivable and hence offered some proof of concept. Next, we would like to implement the system on our PWC. Since Robot Operating System (ROS) also uses serial interface to communicate with the Arduino, communicating between processing, arduino and ROS was not possible. As suggested during last week meeting, we spent sometime exploring shared memory to interface between these three nodes but were not successful at achieving that within the time frame. Hence, we pursued to understanding and identifying an experimental setup which would be achievable. Hence, we came up with the experimental setup as described above. We are currently working on integrating the joystick handle to the PWC via ROS. We expect to have an experimental setup ready before presentation. |
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