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Cited by 16Assistive Technology in Communication and MobilityTactile and Sensory InteractionsProsthetics and Rehabilitation Robotics

The DOI matches its Crossref record, with a small difference in title or year.

A Novel Perceptive Robotic Cane with Haptic Navigation for Enabling Vision-Independent Participation in the Social Dynamics of Seat Choice

Agrawal, Shivendra, West, Mary Etta, Hayes, Bradley·2022·2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI 10.1109/iros47612.2022.9981219
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Abstract

Goal-based navigation in public places is critical for independent mobility and for breaking barriers that exist for blind or visually impaired (BVI) people in a sight-centric society. Through this work we present a proof-of-concept system that autonomously leverages goal-based navigation assistance and perception to identify socially preferred seats and safely guide its user towards them in unknown indoor environments. The robotic system includes a camera, an IMU, vibrational motors, and a white cane, powered via a backpack-mounted laptop. The system combines techniques from computer vision, robotics, and motion planning with insights from psychology to perform 1) SLAM and object localization, 2) goal disambiguation and scoring, and 3) path planning and guidance. We introduce a novel 2-motor haptic feedback system on the cane's grip for navigation assistance. Through a pilot user study we show that the system is successful in classifying and providing haptic navigation guidance to socially preferred seats, while optimizing for users' convenience, privacy, and intimacy in addition to increasing their confidence in independent navigation. The implications are encouraging as this technology, with careful design guided by the BVI community, can be adopted and further developed to be used with medical devices enabling the BVI population to better independently engage in socially dynamic situations like seat choice.

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Research works printed but not linked: 32

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Metadata

Authors
Agrawal, S., West, M. E., & Hayes, B.
Affiliations
University of Colorado Boulder (US)
ORCID
Venue
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE
Published
2022-10-23
Pages
9156-9163
ISSN
2153-0858 (ISSN-L)
DOI
10.1109/iros47612.2022.9981219
OpenAlex
W4312852749
Cited by
16
References
0
Citations by year
2026: 1 · 2025: 7 · 2024: 4 · 2023: 4
FWCI
8.08
Type
conference paper
Language
en
Open access
closed
Licence
Locations
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
Funders
NSF (1830686)
Topics
  • Health Sciences › Health Professions › Occupational Therapy › Assistive Technology in Communication and Mobility
  • Life Sciences › Neuroscience › Cognitive Neuroscience › Tactile and Sensory Interactions
  • Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
Keywords
haptic navigation, blind and visually impaired people, independent mobility, SLAM, object localization, path planning, user study, assistive robotics

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