Human-wheelchair system controlled by through brain signals

Abstract

This work presents a dynamic controller for a robotic wheelchair, that allows people with lower and upper extremity impairments to move through of brain signals. The person receives visual feedback of the movement of the robot and it sends desired position-velocity commands through of the Emotiv EPOC device. The desired velocity of the wheelchair is considered as a function of the disregard of the person to move the robotic wheelchair. Additionally, the kinematic and dynamic modeling of a human-wheelchair system where it is considered that its mass center is not located at the wheels’ axis center of the wheelchair. Finally, the results are reported to verify the performance of the proposed system.