Page 49 - Mobility Management, July/August 2021

LuciCore Software: Plan and Scale
LUCI’s goal is not autonomy, it is driver assistance that leads to increased independence. LuciCore is our software, the brain, that makes everything LUCI does possible.
LUCI’s processing involves receiving massive amounts of asynchronous data from our sensor system. Data from our Sensors arrives anywhere from 12 times per second to 100 times per second depending on the sensor type. Our software then Analyzes the surroundings and Plans, using user input, for what needs to be done. Finally, LUCI Scales the user input to slow the chair if an obstacle or drop-off is detected. Throughout this whole process...
SCALE
SENSE
PLAN
ANALYZE
LUCI never adds to the joystick input of the user, it only reduces the input to the system. This entire decision-making loop is repeated 10 times per second to keep users safe.
KEEPING THE HUMAN IN THE LOOP
LUCI’s calculations incorporate the user’s reaction time in the hope that LUCI won’t need to completely
stop motion of the wheelchair. When LUCI is working best for a user, it is assisting them to drive safely and smoothly in situations they might not otherwise be able to navigate successfully by keeping the world within their ability to react to it. A user with a faster reaction time will find that LUCI speeds up and slows down more rapidly than it does for a user with a longer reaction time. LuciCore keeps the human in the loop.
Begins Deceleration Sooner
SLOWER REACTION TIME (>1.0 SECONDS)
CHAIR
Begins Deceleration Later
FASTER REACTION TIME (>0.5 SECONDS)
CHAIR
SAME STOPPING POINT
MORE GRADUAL APPROACH
MORE AGGRESSIVE APPROACH
OBSTACLE
OBSTACLE
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LUCI® SAFETY REPORT