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Human Robot Interaction: Application To Smart Wheelchairs, Rahul Rao, K. Conn, Sang-Hack Jung, J. Katupitiya, Terry Kientz, R. Kumar, James Ostrowski, Sarangi Patel, Camillo Taylor

R. Vijay Kumar

This paper addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Specifically, we focus on (a) the vision-based human interaction interface; (b) the suite of sensors on the chair; and (c) the software architecture and the control algorithms used to control the chair.