Name: Eduardo Henrique Montenegro Couto
Type: MSc dissertation
Publication date: 05/12/2017

Namesort descending Role
Teodiano Freire Bastos Filho Advisor *

Examining board:

Namesort descending Role
Eduardo Lázaro Martins Naves External Examiner *
Marco Antonio de Souza Leite Cuadros External Examiner *
Teodiano Freire Bastos Filho Advisor *

Summary: The present work evaluates a PD-Like and impedance controller applied to a
teleoperated robotic wheelchair with visual feedback from a camera. This
evaluation considers the delay influence on data and image transmission in the
system. The force feedback imposed by the controller was initially applied to a
robot, emulating a wheelchair to test the algorithms, to the joystick, relating the difference between master and slave, and based on measurements of a laser sensor to detect presence of possible obstacles on the way. The system was implemented and tested in a real wheelchair. The time to complete the proposed tasks, the robot synchronism error, and the spatial error regarding the trajectory and the specified path were analysed. In addition, user EEG signals were collected in order to measure the user's level of attention during the task, which was correlated with the completed NASA-TLX questionnaire shortly after the conclusion of the protocol. A satisfactory behaviour of the controller and execution of the task by the user was observed, and that the
level of attention increases with the presence of time delay.
Key-words: Robotic teleoperation, wheelchair, time delayed system, EEG and
attention index calculation.

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