Dynamic obstacle avoidance based on obstacle type for interactive smart electric wheelchair

A smart electric wheelchair is proposed for use as a personal mobility tool (PMT) . To reduce the load on the user, PMT is integrated with autonomous mobile robot navigation and human inputs. In addition, an obstacle avoidance function is provided. To facilitate comfortable and easy movement as well as safety and efficiency, we aim to realize a PMT with obstacle avoidance that does not cause discomfort and frustration to the user. The tool detects a human on the basis of the leg shape. The virtual impedance method is used as an obstacle avoidance method in dynamic environments. An experiment is conducted to evaluate the psychological effect of the PMT's obstacle avoidance movement when different types of obstacles and movement characteristics are applied.