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The International Journal of Robotics Research
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Context-Aware Shared Control of a Robot Mobility Aid for the Elderly Blind

Gerard Lacey

Department of Computer Science, O’Reilly Institute, Trinity College, Dublin 2, Irelandgerard.lacey{at}cs.tcd.ie

Shane MacNamara

Department of Computer Science, O’Reilly Institute, Trinity College, Dublin 2, Irelandshane.macnamara{at}cs.tcd.ie

This paper describes the use of a Bayesian network to provide context-aware shared control of a robot mobility aid for the frail blind. The robot mobility aid, PAM-AID, is a "smart walker" that aims to assist the frail and elderly blind to walk safely indoors. The Bayesian network combines user input with high-level information derived from the sensors to provide a context-aware estimate of the user’s current navigation goals. This context-aware action selection mechanism facilitates the use of a very simple, low bandwidth user interface, which is critical for the elderly user group. The PAM-AID systems have been evaluated through a series of field trails involving over 30 potential users.

Key Words: mobility aid • robot • visually impaired • Bayesian networks • context aware

The International Journal of Robotics Research, Vol. 19, No. 11, 1054-1065 (2000)
DOI: 10.1177/02783640022067968
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