Sarangi P. Parikh

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We describe the development and assessment of a computer controlled wheelchair called the SMARTCHAIR. A shared control framework with different levels of autonomy allows the human operator to stay in complete control of the chair at each level while ensuring her safety. The framework incorporates deliberative motion plans or controllers, reactive behaviors,(More)
Nearly five million individuals in the US have limited arm and hand movement, making it difficult or impossible for them to use computers and products with embedded computers, such as wheelchairs, household appliances, office electronic equipment, and robotic aids. Although some current wheelchair systems have embedded computers, they have very little(More)
We describe the development and assessment of a computer controlled wheelchair equipped with a suite of sensors and a novel interface, called the SMARTCHAIR. The main focus of this paper is a shared control framework which allows the human operator to interact with the chair while it is performing an autonomous task. At the highest level, the autonomous(More)
— We build on previous work [12], [14] on the development of a computer controlled wheelchair equipped with a suite of sensors and a novel interface for human-robot interaction. In this paper, we present experimental results and usability studies for the wheelchair. The architecture for human-robot interaction is hierarchical, with the lowest level(More)
Touchscreen technology has become pervasive in the consumer product arena over the last decade, offering some distinct advantages such as software reconfigurable interfaces and the removal of space consuming mice and keyboards. However, there are significant drawbacks to these devices that have limited their adoption by some users. Most notably, standard(More)
Touch screen technology has become pervasive in the consumer product arena over the last decade. It offers some distinct advantages over traditional interfaces, including the removal of space consuming peripherals such as mice, keyboards, and joysticks from a system's design. However, there are significant drawbacks to these devices that have limited their(More)
This paper provides a different method for humanrobot interaction and further encourages communication between human users and their robotic counterparts. The focus of our work is to develop a human-robot communication system that is not easily detectable and increases stealth when necessary. The human-robot interaction system we propose involves hand(More)
Extended Abstract—In recent years, touch screen technology has progressed rapidly and has increased in popularity with developers and consumers alike. Touch screen devices, in the forms of shopping kiosks, ATMs, tablet PCs, and smart phones, are now a very prevalent fact of everyday life. Ironically, in more technologically advanced applications such as(More)
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