Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs

Within this work, we demonstrate the applicability of a three degrees of freedom orientation tracker as suitable controlling equipment for an autonomous wheelchair. It is shown that a small-size sensor device, like the XSens MTx, can either serve as a joystick replacement, or as an interface device for a newly developed navigation algorithm. Specifically, the sensor device is mounted at the back of its operator's head, where it permanently measures posture values that are converted into adequate steering commands. Comprehensive experiments in a real world office scenario with untrained participants are used for evaluation purposes.