开发可协作的轮椅辅助系统，提升用户独立性与安全性。
WeHelp: A Shared Autonomy System for Wheelchair Users
- 三种模式协同：跟随、远程控制、手动遥控，灵活应对不同需求。
- 语音指令触发操作切换，实测表明系统实用且有效。
- 适合残障人士及护理人员使用，提升日常活动自主能力。
全球有大量轮椅使用者，多数人日常需协助，但因护理人员不足，需求难以满足。为此，我们开发了WeHelp系统，一种面向轮椅用户的共享自主系统。配备该系统的机器人具备三种工作模式：跟随模式下通过视觉追踪自动跟随用户，支持从后方、左侧或右侧跟随；当用户通过语音发出求助指令时，系统可切换至遥控或远程控制模式。在遥控模式中，用户可通过手柄操控机器人完成开门、移除障碍物、取高处或低处物品等复杂任务；在远程控制模式中，由远程助手接管机器人完成类似任务。评估结果表明该系统对轮椅用户具有实际应用价值。论文源码与演示视频见https://github.com/Walleclipse/WeHelp。
原文摘要 · Abstract (English)
There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this project, we develop WeHelp, a shared autonomy system aimed for wheelchair users. A robot with a WeHelp system has three modes, following mode, remote control mode and tele-operation mode. In the following mode, the robot follows the wheelchair user automatically via visual tracking. The wheelchair user can ask the robot to follow them from behind, by the left or by the right. When the wheelchair user asks for help, the robot will recognize the command via speech recognition, and then switch to the teleoperation mode or remote control mode. In the teleoperation mode, the wheelchair user takes over the robot with a joy stick and controls the robot to complete some complex tasks for their needs, such as opening doors, moving obstacles on the way, reaching objects on a high shelf or on the low ground, etc. In the remote control mode, a remote assistant takes over the robot and helps the wheelchair user complete some complex tasks for their needs. Our evaluation shows that the pipeline is useful and practical for wheelchair users. Source code and demo of the paper are available at \url{https://github.com/Walleclipse/WeHelp}.
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