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Research paper : A secure and reliable next generation mobility (Y. Satoh et al.)−117−Synthesiology - English edition Vol.2 No.2 (2009) H. H. Meinel: Commercial applications of millimeterwaves: History, present status and future trends, IEEE Trans. Microwave Theory and Techniques, 43(7), 1639-53 (1995).N. Shimomura, S. Nakamura, T. Goto, K. Fujimoto and H. Muro: A method of tracking a forward vehicle using a scanning laser radar and a camera, Denki Gakkai Ronbunshi C (IEEJ Transactions on Electronics, Information and Systems C), 123(8), 1427-1438 (2003).Zen hoko sutereo kamera o tosai shita interijento dendo kuruma isu – anshin/anzen na dendo kuruma isu no jitsugen (Intelligent electric wheelchair with stereo omni-directional camera – Realization of a safe and secure electric wheelchair), AIST Press Release (2006) (in Japanese).Dai 2-shu Kiso Kenkyu O Jiku Toshita Honkaku Kenkyu No Tenkai ( Development of Full Research Centering on Type 2 Basic Research), Vol. 1~13, AIST (2006-2008) (in Japanese).K. Yamamoto, H. Tanahashi, S. Kuwashima and Y. Niwa: Sensing of real environment by stereo omnidirectional system (SOS), Denki Gakkai Ronbunshi C (IEEJ Transactions on Electronics, Information and Systems C), 121(5), 876-881 (2001).Y. Satoh, K. Yamamoto, S. Kuwashima, H. Tanahashi, C. Wang and Y. Niwa: Idotai Bijon o shiko shita kogata zen hoko sutereo shisutemu (mini SOS) (Development of small stereo omnidirectional system (mini SOS) for mobile vision), Gazo Sensing Symposium Koen Ronbunshu [1][2][3][4][5][6]Referencesby working on the framework of safety and liability while collaborating with other fields.5.2 User responseIn this research scenario, gathering the opinions of the users and incorporating them to the research was important for the upward spiral. Therefore, we exhibited in several exhibitions such as the International Home Care and Rehabilitation Exhibition (total visitors of about 100,000 people in 3 days) to hear comments of the current wheelchair users. Initially, we were concerned that “this was a rather future-oriented proposal and may not capture the interest of the current wheelchair users.” Actually, we obtained comments such as: “I have been waiting for this, I’d like one right now,” or “Please continue this kind of research.” Even when an exhibition was held in Tokyo, there were wheelchair users who came all the way from Osaka. There was a strong demand for a support system using advanced technology. Comments were provided by the visitors, and new research topics were born. As explained earlier, the automatic assistance function in Fig. 17 was produced through this process.Since the user of welfare apparatuses is limited and customization is frequently required according to the user’s condition, it is difficult to establish as business compared to mass-produced apparatuses. Therefore, advanced technology has not been introduced despite pressing demands. However, IT and robot technologies should be actively used to meet this kind of demand, and it is necessary to consider some kind of scheme to improve the current situation. In this sense, we received lots of support and expectations from current wheelchair users for the concept of developing a new mobility rather than limiting it to conventional wheelchairs. Also, parts of the elemental technology developed in this study can be applied to safety technology in automobile industry that has a large market, and when high performance and low cost are achieved by diffusion in such a market, they can be returned and used in electric wheelchairs.6 Summary and future prospectsWe described the development of an intelligent electric wheelchair with stereo omni-directional camera. As mentioned in the beginning, research and technology were visualized by integrating and synthesizing the initially selected elemental technologies based on conventional research potentials, and then by completing a “moving” prototype as quickly as possible. From the results of the evaluation and presentation of the prototype, “elemental technologies that must be created or improved” were discerned, elemental technology research was conducted, and the result was reintegrated and re-synthesized, to practice research strategy with an upward spiral structure. Necessary elemental technologies were produced consecutively. Since they were all immediately necessary and the evaluation standard of performance was clear (whether it could solve the immediately occurring problems), we were able to engage in research efficiently and with good balance.In this research, technology for accurately and quickly sensing the surrounding environment, and the technology to accurately detect risks from the obtained information were developed to realize mobility that allows safe movement and sharing of space with pedestrians. The technologies were implemented in an electric wheelchair, and demonstration experiments were conducted. For further developments as a new mobility for all people in the future, we shall continue our investigations on many issues such as infrastructure and laws and regulations. Fig. 20 Test runs in varying environments.Test runs were conducted in varying environments, both indoors and outdoors. The left photo shows passage through a narrow corridor. Since there is almost no extra room for the width of the wheelchair, the chair stops automatically frequently when the level of safety is set high. The balance of “safety” and “freedom” is difficult. The right photo shows a test run under direct sunlight. Stability evaluations were done for various environmental changes.

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