Faculty Advisor

Padir, Taskin

Abstract

This project improves the control mechanisms for a semi-autonomous wheelchair with an assistive robotic arm system. The wheelchair is aimed at increasing the self-sufficiency of individuals with LIS. The objectives include the validation of the existing control interfaces, as well as the integration and design of new systems. The wireless brain-computer headset, used to implement the control system for navigation, is validated through several user studies. An EMG sensor system serves as an alternative control module. To increase physical interaction with the environment, a robotic arm system is integrated. The system includes a RGB-D camera for object detection, enabling autonomous object retrieval. The project outcomes include a demonstration performing navigation and manipulation tasks.

Publisher

Worcester Polytechnic Institute

Date Accepted

2015-04-30

Major

Electrical and Computer Engineering

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

Advisor Program

Electrical and Computer Engineering

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