Control of speed and direction of electric wheelchair using seat pressure mapping

Hori, Jun‐ichi; Ohara, Hiroki; Inayoshi, Seiya

doi:10.1016/j.bbe.2018.04.007

Cited by 5 publications

(3 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Estimations of torso motions of seated users are essential in physical human-robot interaction (pHRIs) that incorporate hands-free (HF) control for navigating riding or remote mobile robots (e.g., [1]- [8]). Force resistive sensors or research-grade pressure mats have been used for directly navigating personal mobility devices, such as two-wheeled self-balancing devices or electrically powered wheelchairs [1], [4]. Inertial measurement units (IMUs) have also been placed on the shoulders of powered wheelchair users to detect and measure small upper body movements, which were mapped to control the wheelchair's speed and direction [2].…”

Section: Introductionmentioning

confidence: 99%

“…The sensors used in these previous studies were costly, bulky, heavy, difficult to customize, and/or did not comprehensively estimate torso mechanics. While research grade pressure mats provide portability and accurate measurement of pressure distribution [1], [4], these mats can be expensive. Although research grade force plates offer highly accurate force, torque, and center of pressure (COP) measurements [3], these plates can be bulky and heavy.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*

Song¹,

Guo²,

Yuan³

et al. 2023

Preprint

View full text Add to dashboard Cite

This is a submitted draft of a paper on the design and validation of a Torso-dynamics Estimation System (TES). The TES consisted of a Force Sensing Seat (FSS) and an inertial measurement unit (IMU) that measured the kinetics and kinematics of the subject's torso motions. The FSS estimated the 3D forces, 3D moments, and 2D COPs while the IMU estimated the 3D torso angles. To validate the TES, the FSS and IMU estimates were compared to gold standard research equipment (AMTI force plate and Qualisys motion capture system, respectively). Potential applications of the TES include physical human-robot interaction (pHRI) for navigating riding or remote robots. The data and data processing code from this study are open source and can be found via the following links: <ul> <li>IEEE DataPort with data: https://ieee-dataport.org/documents/validation-study-torso-dynamics-estimation-system-tes-hands-free-physical-human-robot </li> <li>GitHub repository with code: https://github.com/ssong47/TorsodynamicsEstimationSystem </li> </ul>

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*

Song¹,

Guo²,

Yuan³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

Section: Introductionmentioning

confidence: 99%

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction^*

Song,

Guo,

Yuan

et al. 2023

2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

View full text Add to dashboard Cite

We designed and validated two interfaces for physical human-robot interaction that utilize torso motions for hands-free navigation control of riding or remote mobile robots. The Torso-dynamics Estimation System (TES), which consisted of an instrumented seat (Force Sensing Seat, FSS) and a wearable sensor (inertial measurement unit, IMU), was developed to quantify the translational and rotational motions of the torso, respectively. The FSS was constructed from six uniaxial loadcells to output 3D resultant forces and torques, which were used to compute the translational movement of the 2D center of pressure (COP) under the seated user. Two versions of the FSS (Gen 1.0 and 2.0) with different loadcell layouts, materials, and manufacturing methods were developed to showcase the versatility of the FSS design and construction. Both FSS versions utilized low-cost components and a simple calibration protocol to correct for dimensional inaccuracies. The IMU, attached on the user's upper chest, used a proprietary algorithm to compute the 3D torso angles without relying heavily on magnetometers to minimize errors from electromagnetic noises. A validation study was performed on eight test subjects (six able-bodied users and two manual wheelchair users with reduced torso range of motion) to validate TES estimations by comparing them to data collected on a research-grade force plate and motion capture system. TES readings displayed high accuracy (average RMSE of 3D forces, 3D torques, 2D COP, and torso angles were well less than maximum limits of 5N, 5Nm, 10mm, and 6˚, respectively).

show abstract

Wheelchair Control System based on Gyroscope of Wearable Tool for the Disabled

Jameel

Mohammed

Gharghan

2020

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

A wheelchair control system based on Gyroscope of wearable tool can serve the disabled, especially in helping them move freely. The recent evolution of new technology means that unassisted, free movement has become possible. For this purpose, human–machine interface hands-free command of an electric-powered wheelchair can be achieved. In this paper, an electroencephalogram instrument, namely the EMOTIV Insight, was implemented in a human–computer interface to acquire the user’s head motion signals. The system can be operated based on the user’s head motions to carry out motion orders and control the motor of the wheelchair. The proposed system consists of an EMOTIV Insight brain-based gyroscope to sense head tilt, a DC motor driver to control wheelchair speed and directions, an eclectic-powered wheelchair, microcontroller, and laptop. We implemented the system in practice and tested it on smooth and rough surfaces in indoor/outdoor settings. The experimental results were greatly encouraging: disabled users were able to drive the wheelchair without any limitations. We obtained a significant average response time of 2 seconds. In addition, the system had accuracy, sensitivity, and specificity of 99%, 99.16%, and 98.83%, respectively.

show abstract

Control of speed and direction of electric wheelchair using seat pressure mapping

Cited by 5 publications

References 23 publications

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction^*

Wheelchair Control System based on Gyroscope of Wearable Tool for the Disabled

Contact Info

Product

Resources

About