LA SILLA ROBÓTICA SENA. UN ENFOQUE BASADO EN LA INTERACCIÓN HOMBRE-MÁQUINA

In our society, the number of physically impaired people who need some type of mechanical aid for mobility is quickly increasing over time. Advances in technology have permitted the development of robotic wheelchairs which are able to relieve users from tedious operations, like manually controlling the wheelchair along corridors or crowded areas. This paper presents the robotic wheelchair SENA which is the result of a long-term research project at the University of Malaga (Spain). SENA is based on a commercial powered wheelchair that has been endowed with a variety of sensors and devices managed by the user’s laptop. Other features of the SENA prototype are the ability for autonomous navigation within office-like scenarios and high-level human-vehicle interaction and cooperation, that is based on a specific software architecture for assistant robotics. This paper describes technical details about both the hardware and software of SENA, illustrates its performance within real scenarios, and gives some conclusions obtained from our experience

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