Manuel Fernández-Carmona

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This work presents a new approach to shared control to assist wheelchair driving. Rather than swapping control from human to robot either by request or on a need basis, the system estimates how much help is needed in a reactive fashion and continuously produces an emergent motory command in combination with human input. To provide time stability and(More)
OBJECTIVE Mobility is of key importance for autonomous living. Persons with severe disabilities may be assisted by robotic wheelchairs when manual control is not possible. However, these persons should contribute to control as much as they can to avoid loss of residual skills and frustration. Traditionally, wheelchair shared control approaches either give(More)
This work presents a new approach to proactive collaborative wheelchair control. The system is based on estimating how much help the person needs at each situation and providing just the correct amount. This is achieved by combining robot and human control commands in a reactive fashion after weighting them by their respective local efficiency. Thus, the(More)
Mobility assistance is of key importance for people with disabilities to remain autonomous in their preferred environments. In severe cases, assistance can be provided by robotized wheelchairs that can perform complex maneuvers and/or correct the user's commands. User's acceptance is of key importance, as some users do not like their commands to be(More)
We address possible solutions for a practical application of Markov Logic Networks to online activity recognition, based on domotic sensors, to be used for monitoring elderly with mild cognitive impairments. Our system has to provide responsive information about user activities throughout the day, so different inference engines are tested. We use an(More)
Mobility assistance for wheelchair navigation is typically based on the shared control paradigm. Traditionally, control swaps from user to machine depending either on a trigger mechanism or on a explicit user request. Alternatively, in collaborative control approaches both user and robot contribute to control at the same time. However, in this case it is(More)