Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2006.1641759
Title: Development of an elastic path controller
Authors: Long, B.
Rebsamen, B. 
Burdet, E. 
Teo, C.L. 
Issue Date: 2006
Source: Long, B., Rebsamen, B., Burdet, E., Teo, C.L. (2006). Development of an elastic path controller. Proceedings - IEEE International Conference on Robotics and Automation 2006 : 493-498. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2006.1641759
Abstract: An Elastic Path Controller (EPC) is developed in this paper to add "elasticity" to a path following controller and enable dynamic modification of the guiding path for assistive devices based on path guidance. This permits the users to compensate for changes in the environment such as obstacles or error in position sensing. The EPC is demonstrated both on the Scooter cobot and on the Collaborative Wheelchair Assistant (CWA). Simulation results and psychophysical experiments performed with the Scooter suggest that this novel tool is efficient and can help human operators to adapt to environment changes. © 2006 IEEE.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/73343
ISBN: 0780395069
ISSN: 10504729
DOI: 10.1109/ROBOT.2006.1641759
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