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

Figure 5

Parameters of the dynamic model of the robotic wheelchair. The relevant parameters are 𝑢 linear velocity, 𝜔 angular velocity, 𝐺 center of mass, 𝑐 middle point between front wheels, 𝐸 mass center of the user location, ℎ∶(𝑥,𝑦) point of interest, 𝜓 robot orientation, and 𝑎 distance between ℎ and the central point of the virtual axis of the traction wheels.