Rao, RahulConn, K.Jung, Sang-HackKatupitiya, J.Kumar, R. VijayKientz, Terry LOstrowski, James P.Taylor, Camillo JPatel, Sarangi2023-05-222023-05-222002-05-012004-11-16https://repository.upenn.edu/handle/20.500.14332/40011This paper addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Specifically, we focus on (a) the vision-based human interaction interface; (b) the suite of sensors on the chair; and (c) the software architecture and the control algorithms used to control the chair.GRASPhandicapped aidsintelligent controlmobile robotsmotion controluser interfacesassistive devicescontrol algorithmshuman robot interactionsensors suitesmart wheelchairssoftware architecturevision-based human interaction interfacePresentation