IMPLEMENTAÇÃO DE CONTROLADOR PD-LIKE E DE IMPEDÂNCIA PARA UMA CADEIRA DE RODAS TELEOPERADA COM ATRASO DE TEMPO

EDUARDO COUTO; ALAN FLORIANO; KEVIN A. HERNANDEZ-OSSA; EMANUEL SLAWIÑSKI; VIVIANA MOYA; TEODIANO BASTOS

Porto Alegre

Simposio; Simpósio Brasileiro de Automação Inteligente (SBAI); 2017

This work evaluates a PD-like and impedance controller applied to a teleoperated wheelchair with visual feedback from a camera. This evaluation contemplates the influence of data and image transmission delay on the system. The force feedback imposed by the controller is applied to the robotic wheelchair and joystick, which is related to the difference between master and slave, and the presence of obstacles in the path. The time to complete the proposed task, robot synchronization error, and spatial error referring to the trajectory on the specified pathway were analyzed. In addition, EEG signals were collected in order to measure a level of user?s attention during the task execution, which is correlated with the NASA-TLX questionnaire score answered after the protocol was completed. The satisfactory behavior of the controller and correct execution of the task by the user are observed, and the attention level increases with the presence of time delay