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Sivakanthan S, Candiotti JL, Sundaram AS, Duvall JA, Sergeant JJG, Cooper R, Satpute S, Turner RL, Cooper RA. Mini-review: Robotic wheelchair taxonomy and readiness. Neurosci Lett 2022; 772:136482. [PMID: 35104618 PMCID: PMC8887066 DOI: 10.1016/j.neulet.2022.136482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/12/2021] [Revised: 01/21/2022] [Accepted: 01/24/2022] [Indexed: 01/05/2023]
Abstract
Robotic wheelchair research and development is a growing sector. This article introduces a robotic wheelchair taxonomy, and a readiness model supported by a mini-review. The taxonomy is constructed by power wheelchair and, mobile robot standards, the ICF and, PHAATE models. The mini-review of 2797 articles spanning 7 databases produced 205 articles and 4 review articles that matched inclusion/exclusion criteria. The review and analysis illuminate how innovations in robotic wheelchair research progressed and have been slow to translate into the marketplace.
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Affiliation(s)
- Sivashankar Sivakanthan
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Jorge L Candiotti
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Andrea S Sundaram
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Jonathan A Duvall
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | | | - Rosemarie Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Shantanu Satpute
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA; Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
| | - Rose L Turner
- Health Science Library System, University of Pittsburgh, Pittsburgh, PA, USA
| | - Rory A Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA.
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Udupa S, Kamat VR, Menassa CC. Shared autonomy in assistive mobile robots: a review. Disabil Rehabil Assist Technol 2021:1-22. [PMID: 34133906 DOI: 10.1080/17483107.2021.1928778] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
Abstract
PURPOSE Shared autonomy has played a major role in assistive mobile robotics as it has the potential to effectively balance user satisfaction and smooth functioning of systems by adapting itself to each user's needs and preferences. Many shared control paradigms have been developed over the years. However, despite these advancements, shared control paradigms have not been widely adopted as there are several integral aspects that have not fully matured. The purpose of this paper is to discuss and review various aspects of shared control and the technologies leading up to the current advancements in shared control for assistive mobile robots. METHODS A comprehensive review of the literature was conducted following a dichotomy of studies from the pre-2000 and the post-2000 periods to focus on both the early developments and the current state of the art in this domain. RESULTS A systematic review of 135 research papers and 7 review papers selected from the literature was conducted. To facilitate the organization of the reviewed work, a 6-level ladder categorization was developed based on the extent of autonomy shared between the human and the robot in the use of assistive mobile robots. This taxonomy highlights the chronological improvements in this domain. CONCLUSION It was found that most prior studies have focussed on basic functionalities, thus paving the way for research to now focus on the higher levels of the ladder taxonomy. It was concluded that further research in the domain must focus on ensuring safety in mobility and adaptability to varying environments.Implications for rehabilitationShared autonomy in assistive mobile robots plays a vital role in effectively adapting to ensure safety while also considering the user comfort.User's immediate desires should be considered in decision making to ensure that the users are in control of the assistive robots.The current focus of research should be towards successful adaptation of the assistive mobile robots to varying environments to assure safety of the user.
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Affiliation(s)
- Sumukha Udupa
- Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA.,Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Vineet R Kamat
- Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA.,Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Carol C Menassa
- Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA.,Robotics Institute, University of Michigan, Ann Arbor, MI, USA
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