PulseRide: A Robotic Wheelchair for Personalized Exertion Control with Human-in-the-Loop Reinforcement Learning

TL;DR

PulseRide is a personalized robotic wheelchair system that uses human-in-the-loop reinforcement learning to adapt assistance based on physiological data, effectively maintaining users' exertion levels and reducing fatigue.

Contribution

It introduces a novel adaptive wheelchair system that integrates real-time physiological monitoring with reinforcement learning for personalized exertion control.

Findings

Maintains heart rate within moderate activity zone 71.7% longer than manual wheelchairs.

Reduces muscle contractions by 41.86%, delaying fatigue.

Enhances user comfort and engagement through adaptive assistance.

Abstract

Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair users, who propel the wheelchair by pushing the wheelchair's handrims, often face upper extremity injuries from repetitive motions. These challenges underscore the need for a mobility system that promotes activity while minimizing injury risk. Maintaining optimal exertion during wheelchair use enhances health benefits and engagement, yet the variations in individual physiological responses complicate exertion optimization. To address this, we introduce PulseRide, a novel wheelchair system that provides personalized assistance based on each user's physiological responses, helping them maintain their physical exertion goals. Unlike conventional assistive systems focused on obstacle avoidance and navigation, PulseRide integrates real-time physiological data-such as heart rate and ECG-with wheelchair speed to deliver adaptive assistance. Using a human-in-the-loop reinforcement learning approach with Deep Q-Network algorithm (DQN), the system adjusts push assistance to keep users within a moderate activity range without under- or over-exertion. We conducted preliminary tests with 10 users on various terrains, including carpet and slate, to assess PulseRide's effectiveness. Our findings show that, for individual users, PulseRide maintains heart rates within the moderate activity zone as much as 71.7 percent longer than manual wheelchairs. Among all users, we observed an average reduction in muscle contractions of 41.86 percent, delaying fatigue onset and enhancing overall comfort and engagement. These results indicate that PulseRide offers a healthier, adaptive mobility solution, bridging the gap between passive and physically taxing mobility options.