Human-Machine Interface for a Smart Wheelchair

Hartman, Amiel; Nandikolla, Vidya K.

doi:10.1155/2019/4837058

Cited by 43 publications

(19 citation statements)

References 17 publications

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“…. ϕ (24) where φ represents the angular position of the inclination of the back of the wheelchair; φ e is a constant angle of displacement; ϕ and . ϕ represent the position and angular velocity, respectively, of the bipedestation motor; and K z , K l , and K h are distances.…”

Section: Bipedestation Dynamic Modelmentioning

confidence: 99%

“…To perform that, the different prototypes are instrumented with intrinsic and extrinsic sensors, in order to perform fully or partially autonomous tasks for the benefit of the user. Among the different construction criteria, most authors focus mainly on the analysis of the robotic system considering the center of mass, with the aim that the standing wheelchair has a mechanical stability to perform standing tasks in a safe way for the user [ 23 ]; (b) Modeling is one of the topics with the greatest number of contributions, since obtaining a kinematic and dynamic model is essential for the implementation of control algorithms [ 24 ]. Thus, there are works that focus on determining a dynamic model that represents the behavior of the standing wheelchair human system.…”

Section: Introductionmentioning

confidence: 99%

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Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes

Ortiz

Palacios-Navarro

Andaluz

et al. 2021

Sensors

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Technological advances in recent years have shown interest in the development of robots in the medical field. The integration of robotic systems in areas of assistance and rehabilitation improves the user’s quality of life. In this context, this article presents a proposal for the unified control of a robotic standing wheelchair. Considering primary and secondary tasks as control objectives, the system performs tasks autonomously and the change of position and orientation can be performed at any time. The development of the control scheme was divided in two parts: (i) kinematic controller to solve the desired motion problem; and (ii) dynamic compensation of the standing wheelchair–human system. The design of the two controllers considers the theory of linear algebra, proposing a low computational cost and an asymptotically stable algorithm, without disturbances. The stability and robustness analysis of the system is performed by analyzing the evolution of the control errors in each sampling period. Finally, real experiments of the performance of the developed controller are performed using a built and instrumented standing wheelchair.

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Section: Bipedestation Dynamic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes

Ortiz

Palacios-Navarro

Andaluz

et al. 2021

Sensors

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“…Likewise, the proposed framework work with stop, forward, left and right. Amiel Hartman et, al. (2019), his work displays a wheelchair.…”

Section: Related Workmentioning

confidence: 99%

“…The LabVIEW pack is delivered for progressing self-administering way orchestrating and sensor data taking care of. Four little structure factor PCs are related over a Gigabit Ethernet neighborhood to shape the PC gathering [7]. Finally, this work required four PCs that are associated with Gigabit Ethernet in this way, as opposed to the proposed framework that is a single PC and vigorous its condition clamor.…”

Section: Related Workmentioning

confidence: 99%

Wheelchair Movement Based on Convolution Neural Network

Kodher¹,

Saud²,

Hassan³

2021

ETJ

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This paper intends to develop a methodology for helping amputees and crippled people old, by ongoing voice direction and association between patient and personal computer (PC) where these blends offer a promising response for helping the debilitated people. The major objective of this work is accurately detected audio orders via a microphone of an English language (go, stop, right and left) in a noisy environment by the proposed system. Thus, a patient that utilizes the proposed system can be controlling a wheelchair movement. The venture depends on preparing an off-line dataset of audio files are included 10000 orders and background noise. The proposed system has two important steps of preprocessing to get accurate of specific audio orders, accordingly, the accurate direction of wheelchair movement. Firstly, a dataset was preprocessed to reduce ambient noise by using Butterworth (cutoff 500-5000 Hz) and Wiener filter. Secondly, in the input (a microphone) of the proposed discriminative model put a procedure of infinite impulse response filter (Butterworth), passband filter for cutoff input microphone from 150-7000 Hz for back-off the loud and environment noise and local polynomial approximation (Savitzky-Golay) smoothing filter that plays out a polynomial regression on the signal values. Thus, a better for filtering from ambient noise and keeping on a waveform from distortion that makes the discriminative model accurate when voice orders were recognized. The proposed system can work with various situations and speeds for steering; forward, stop, left and right. All datasets are trained by using deep learning with specific parameters of...

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“…In order to solve the toilet problem, scholars have conducted a considerable amount of research [ 8 , 9 ]. The wheelchair is the most commonly used assistive device for people with mobility difficulties, and can help patients with basic mobility and transport.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of an Intelligent Toilet Wheelchair Based on Planar 2DOF Parallel Mechanism with Coupling Branch Chains

Shi

Chen

2021

Sensors

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Due to the fixed size of the structure or the possibility of only simple manual adjustment, the traditional toilet wheelchair cannot easily be adapted to the size of the user or the toilet. In this paper, a planar two-degree-of-freedom parallel mechanism with coupling branch chains is proposed to enable both seat height adjustment and body posture adjustment of a toilet chair, solving the problems of posture adaptability between the user and the machine, and height matching in the process of using the wheelchair-assisted toilet. The model of the parallel mechanism was designed after analyzing the general rules of posture transformation in the human body before and after the toilet process, and the dimensions of each linkage were then determined according to the constraint conditions. By analyzing the degree of freedom, kinematics, workspace, singularity and position of the center of gravity, the rationality of the design was ensured. The weighted average function was used to find the optimal fixed point of the horizontal moving slider, and the actual trajectory at the end of the single driving mode was close to the ideal trajectory. The experimental results show that the adjustable seat height range is 290~550 mm and the adjustable angle range is 0~90°, which can enable disabled people to use the toilet independently.

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Human-Machine Interface for a Smart Wheelchair

Cited by 43 publications

References 17 publications

Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes

Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes

Wheelchair Movement Based on Convolution Neural Network

Design and Analysis of an Intelligent Toilet Wheelchair Based on Planar 2DOF Parallel Mechanism with Coupling Branch Chains

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