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IJMERR 2022 Vol.11(10): 767-776
DOI: 10.18178/ijmerr.11.10.767-776

Physical Interaction Based Traveling Aid System with Depth Camera and Unevenness Detection Mechanism

Shinya Kajikawa1, Iori Watanabe 2, and Hayato Hoshi 3
1. Department of Mechanical Engineering and Intelligent Systems, Faculty of Engineering, Tohoku Gakuin University, Tagajo, Japan
2. Honda Motor Co., Ltd, Tokyo, Japan
3. TKC Corporation, Utsunomiya, Japan

Abstract—This paper proposes a physical interaction based  travel aid system for the visually impaired. The proposed  system connects two steered wheels to the waist of the user  through telescopic rods. These wheels are controlled to avoid  obstacles or dents in the ground, detected via two sensing  modules: a depth camera and a passive fork mechanism for  the wheels. When steering control is applied, the resisting  force on each wheel from the ground changes and the  difference between the forces makes the user unconsciously  change walking direction. In this paper, we describe the  navigation system and confirm its possibility of safe guidance. 

Index Terms—Traveling aid system, Visual impairment,  Physical interaction, Steered wheels, Depth camera 

Cite: Shinya Kajikawa, Iori Watanabe, and Hayato Hoshi, "Physical Interaction Based Traveling Aid System with Depth Camera and Unevenness Detection Mechanism," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 10, pp. 767-776, October 2022. DOI: 10.18178/ijmerr.11.10.767-776

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.