Wheelchair control by head motion using a noncontact method in relation to the pacient

Manta, Liviu Florin; Cojocaru, Dorian; Vladu, Ionel Cristian; Dragomir, Andrei; Mariniuc, Alexandru Marin

doi:10.1109/carpathiancc.2019.8765982

Cited by 11 publications

(8 citation statements)

References 18 publications

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“…Manta et al [ 26 ] realized a wheelchair command interface based on head movements. The system has two control modes, using simple commands and head movements.…”

Section: Background and Related Workmentioning

confidence: 99%

“…There are non-invasive instrumentation systems placed on the user, such as those based on cerebral activity, like Brain Computer Interfaces (BCIs) [ 12 , 13 , 14 ], those based on inertial and magnetic sensors that measure head or hand movements [ 15 , 16 , 17 ], and those that implement Electrooculography (EOG) as well as Electromyography (EMG) [ 18 , 19 ], [ 20 ]. On the other hand, there are controller systems placed on the wheelchair like those that involve the use of distance sensors to detect obstacles or operate the wheelchair in closed environments [ 21 , 22 , 23 ], besides those that use vision artificial techniques [ 24 , 25 , 26 ]. There are other types of instrumentation that depend on the user characteristics, the wheelchair navigation, or the environment, being outdoors or indoors.…”

Section: Introductionmentioning

confidence: 99%

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Design and Implementation of a Position, Speed and Orientation Fuzzy Controller Using a Motion Capture System to Operate a Wheelchair Prototype

Callejas-Cuervo

Gonźalez-Cely

Bastos

2021

Sensors

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The design and implementation of an electronic system that involves head movements to operate a prototype that can simulate future movements of a wheelchair was developed here. The controller design collects head-movements data through a MEMS sensor-based motion capture system. The research was divided into four stages: First, the instrumentation of the system using hardware and software; second, the mathematical modeling using the theory of dynamic systems; third, the automatic control of position, speed, and orientation with constant and variable speed; finally, system verification using both an electronic controller test protocol and user experience. The system involved a graphical interface for the user to interact with it by executing all the controllers in real time. Through the System Usability Scale (SUS), a score of 78 out of 100 points was obtained from the qualification of 10 users who validated the system, giving a connotation of “very good”. Users accepted the system with the recommendation to improve safety by using laser sensors instead of ultrasonic range modules to enhance obstacle detection.

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“…Manta et al [ 26 ] realized a wheelchair command interface based on head movements. The system has two control modes, using simple commands and head movements.…”

Section: Background and Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Position, Speed and Orientation Fuzzy Controller Using a Motion Capture System to Operate a Wheelchair Prototype

Callejas-Cuervo

Gonźalez-Cely

Bastos

2021

Sensors

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“…Of course, these control devices are correlated with the level of disability of the user, the automation of the user control interface is leading implicitly to the increase of the complexity of the system and the costs. However, eye-tracking devices and facial expression recognition systems are still in development, with current models offering just a few practical facilities compared to the theoretical studies [5][6][7][8][9][10][11][12]. For example, Timofei I. et al worked on a robotic wheelchair designed for patients with severe disorders of the musculoskeletal system and other body functions.…”

Section: Introductionmentioning

confidence: 99%

“…The eye-tracking devices and facial expression recognition systems are still in development, with current models offering just a few practical facilities compared to the theoretical studies [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. In [16], Lee Y et al propose an extended method to determine the measurement of saccadic eye movement using an eye-tracking module in a virtual reality head-mounted display.…”

Section: Introductionmentioning

confidence: 99%

The Design of an Intelligent Robotic Wheelchair Supporting People with Special Needs, Including for Their Visual System

et al. 2021

Self Cite

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The paper aims to study the applicability and limitations of the solution resulting from a design process for an intelligent system supporting people with special needs who are not physically able to control a wheelchair using classical systems. The intelligent system uses information from smart sensors and offers a control system that replaces the use of a joystick. The necessary movements of the chair in the environment can be determined by an intelligent vision system analyzing the direction of the patient’s gaze and point of view, as well as the actions of the head. In this approach, an important task is to detect the destination target in the 3D workspace. This solution has been evaluated, outdoor and indoor, under different lighting conditions. In order to design the intelligent wheelchair, and because sometimes people with special needs also have specific problems with their optical system (e.g., strabismus, Nystagmus) the system was tested on different subjects, some of them wearing eyeglasses. During the design process of the intelligent system, all the tests involving human subjects were performed in accordance with specific rules of medical security and ethics. In this sense, the process was supervised by a company specialized in health activities that involve people with special needs. The main results and findings are as follows: validation of the proposed solution for all indoor lightning conditions; methodology to create personal profiles, used to improve the HMI efficiency and to adapt it to each subject needs; a primary evaluation and validation for the use of personal profiles in real life, indoor conditions. The conclusion is that the proposed solution can be used for persons who are not physically able to control a wheelchair using classical systems, having with minor vision deficiencies or major vision impairment affecting one of the eyes.

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“…Most of the applications presented above assume by their nature the existence of collisions and the influence of friction. e robotic structures can be controlled by people with special needs by manipulating a joystick but also by eye gaze [48], by gesture [49], by head motion [50], or by signals made with the fingers. In these applications it is absolutely necessary to seriously treat collisions between controlled robotic structures and obstacles.…”

Section: Introductionmentioning

confidence: 99%

Impact Behavior of a Rotating Rigid Body with Impact and Viscous Friction

Cojocaru

Marghitu

2020

Mathematical Problems in Engineering

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The impact between a rotating link and a solid flat surface is considered. For the impact, we consider three distinct periods: elastic period, elastoplastic period, and restitution period. A Hertzian contact force is considered for the elastic period. Nonlinear contact forces developed from finite element analysis are used for the remaining two phases. The tangential effect is taken into account considering a friction force that combines the Coulomb dry friction model and a viscous friction function of velocity. Simulations results are obtained for different friction parameters. An experimental setup was designed to measure the contact time during impact. The experimental and simulation results are compared for different lengths of the link.

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Wheelchair control by head motion using a noncontact method in relation to the pacient

Cited by 11 publications

References 18 publications

Design and Implementation of a Position, Speed and Orientation Fuzzy Controller Using a Motion Capture System to Operate a Wheelchair Prototype

Design and Implementation of a Position, Speed and Orientation Fuzzy Controller Using a Motion Capture System to Operate a Wheelchair Prototype

The Design of an Intelligent Robotic Wheelchair Supporting People with Special Needs, Including for Their Visual System

Impact Behavior of a Rotating Rigid Body with Impact and Viscous Friction

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