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Research paper : A secure and reliable next generation mobility (Y. Satoh et al.)−116−Synthesiology - English edition Vol.2 No.2 (2009) directions even in crowd situations. Here, these functions are introduced since they readily demonstrate the sensing capability of the prototype, and unlike other functions that “assist the user,” the electric wheelchair itself moves automatically. Therefore, solid safety is essential and the hurdle to practical use is high. However, the demand for such automation technology is high, and we are engaging in research for functions that must be developed for the future.Figure 20 shows the test runs in varying environments. Test runs were conducted in various environments such as indoor space with complexly arranged furniture and outdoor space hit directly by sunlight, and stability was evaluated. The balance of “safe” and “free” became major issues in the course of the experiment. In an extreme case, the stop mode (that is, the wheelchair does not move) regardless of the user’s operation of the joystick is the “safest.” In contrast, reduced intervention by the safety system will allow “freer” movement although danger may increase. Appropriate setting differs according to the skill and physical condition of the user, as well as to simple preferences. To continue discussion of this matter in the future, we believe it is necessary to build a framework to evaluate safety in a quantitative manner, including the issue of automation mentioned before. It is also necessary to thoroughly discuss the issue of liability in case accidents do occur. The same issue exists in driving assistance for automobiles, an automatic parking function, and assistant robots. It is necessary to build social consensus Fig. 16 Emergency stop when an abnormality in the rider’s seating position is detected.Fig. 17 Automatic assistance is provided to the position that allows the hand to reach the bottle, by recognizing the rider’s gesture.Fig. 18 Automatic tracking experiment.Fig. 19 Automatic route selection in crowd.(1)(3)(2)EMERGENCY STOP(1)(3)(2)TOUCH ASSISTINGASSIST COMPLETED(1)(4)(3)(2)(1)(4)(3)(2)

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