Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing
Intelligent robotic vehicles are more and more fully automated, without steering wheels, gas/brake pedals, or gearshifts. However, allowing the human driver to step in and maneuver the robotic vehicle under specific driving requirements is a necessary issue that should be considered. To this end, we...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/4546094 |
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| _version_ | 1832549900302155776 |
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| author | Weitian Wang Rui Li Longxiang Guo Z. Max Diekel Yunyi Jia |
| author_facet | Weitian Wang Rui Li Longxiang Guo Z. Max Diekel Yunyi Jia |
| author_sort | Weitian Wang |
| collection | DOAJ |
| description | Intelligent robotic vehicles are more and more fully automated, without steering wheels, gas/brake pedals, or gearshifts. However, allowing the human driver to step in and maneuver the robotic vehicle under specific driving requirements is a necessary issue that should be considered. To this end, we propose a wearable-sensing-based hands-free maneuver intention understanding approach to assist the human to naturally operate the robotic vehicle without physical contact. The human intentions are interpreted and modeled based on the fuzzy control using the forearm postures and muscle activities information detected by a wearable sensory system, which incorporates electromyography (EMG) sensors and inertial measurement unit (IMU). Based on the maneuver intention understanding model, the human can flexibly, intuitively, and conveniently control diverse vehicle maneuvers only using his intention expressions. This approach was implemented by a series of experiments in the practical situations on a lab-based 1/10 robotic vehicle research platform. Experimental results and evaluations demonstrated that, by taking advantage of the nonphysical contact and natural handleability of this approach, the robotic vehicle was successfully and effectively maneuvered to finish the driving tasks with considerable accuracy and robustness in human-robotic vehicle interaction. |
| format | Article |
| id | doaj-art-f3cd73f87e944f4198c77d1e2f721736 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-f3cd73f87e944f4198c77d1e2f7217362025-02-03T06:08:21ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/45460944546094Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable SensingWeitian Wang0Rui Li1Longxiang Guo2Z. Max Diekel3Yunyi Jia4Department of Automotive Engineering, Clemson University, Greenville, SC 29607, USADepartment of Automotive Engineering, Clemson University, Greenville, SC 29607, USADepartment of Automotive Engineering, Clemson University, Greenville, SC 29607, USADepartment of Automotive Engineering, Clemson University, Greenville, SC 29607, USADepartment of Automotive Engineering, Clemson University, Greenville, SC 29607, USAIntelligent robotic vehicles are more and more fully automated, without steering wheels, gas/brake pedals, or gearshifts. However, allowing the human driver to step in and maneuver the robotic vehicle under specific driving requirements is a necessary issue that should be considered. To this end, we propose a wearable-sensing-based hands-free maneuver intention understanding approach to assist the human to naturally operate the robotic vehicle without physical contact. The human intentions are interpreted and modeled based on the fuzzy control using the forearm postures and muscle activities information detected by a wearable sensory system, which incorporates electromyography (EMG) sensors and inertial measurement unit (IMU). Based on the maneuver intention understanding model, the human can flexibly, intuitively, and conveniently control diverse vehicle maneuvers only using his intention expressions. This approach was implemented by a series of experiments in the practical situations on a lab-based 1/10 robotic vehicle research platform. Experimental results and evaluations demonstrated that, by taking advantage of the nonphysical contact and natural handleability of this approach, the robotic vehicle was successfully and effectively maneuvered to finish the driving tasks with considerable accuracy and robustness in human-robotic vehicle interaction.http://dx.doi.org/10.1155/2018/4546094 |
| spellingShingle | Weitian Wang Rui Li Longxiang Guo Z. Max Diekel Yunyi Jia Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing Journal of Robotics |
| title | Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing |
| title_full | Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing |
| title_fullStr | Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing |
| title_full_unstemmed | Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing |
| title_short | Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing |
| title_sort | hands free maneuvers of robotic vehicles via human intentions understanding using wearable sensing |
| url | http://dx.doi.org/10.1155/2018/4546094 |
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