A Minimal, Deterministic Approach to Shared Control for Safe Powered Wheelchair Driving
Published in Robotics: Science and Systems (RSS) 2026, 2026
We developed a reactive assistance control scheme for local guidance around obstacles during powered wheelchair driving, built on a ROS 2 codebase interfacing with a commercial powered wheelchair equipped with LUCI assistive drive technology. We designed and conducted a large-scale, longitudinal user study with powered wheelchair users across a range of motor impairments and control interfaces, testing the usability and effectiveness of the scheme in standard and custom indoor and outdoor driving activities-of-daily-living tasks.