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The Scientific World Journal
Volume 2013, Article ID 589636, 11 pages
http://dx.doi.org/10.1155/2013/589636
Research Article

Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics

1Gabinete de Tecnología Médica, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, Argentina
2Instituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, Argentina
3Departamento de Engenharia Elétrica, Universidade Federal do Espírito Santo, 29075910 Vitoria, ES, Brazil

Received 8 August 2013; Accepted 2 October 2013

Academic Editors: Z. Wang and H.-W. Wu

Copyright © 2013 Elisa Perez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user’s head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user’s head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.