Driving a Ballbot Wheelchair with Hands-Free Torso Control. - Seung Yun Song; Nadja Marin; Chenzhang Xiao; Mahshid Mansouri; João Ramos; Yu Chen 071; Adam W. Bleakney; Deana McDonagh; William R. Norris 001; Jeannette R. Elliott; Patricia B. Malik; Elizabeth T. Hsiao-Wecksler (HRI, 2024)