Human-in-the-Loop Cyber Physical Systems: Modular Designs for Semi-Autonomous Wheelchair Navigation

Abstract

This project involves the design and development of a prototyping platform and open design framework for a semi-autonomous wheelchair to realize a human-in-the-loop cyber physical system as an assistive technology. The system is designed to assist physically locked-in individuals in navigating indoor environments through the use of modular sensor, communication, and control designs. This enables the user to share control with the wheelchair and allows the system to operate semi-autonomously with human-in-the-loop. The Wheelchair Add-on Modules (WAMs) developed for use in this project are platform-independent and facilitate development and application of semi- autonomous functionality