Design and Evaluation of a Visual Control Interface of a Wheelchair Mounted Robotic Arm for Users with Cognitive Impairment PDF Download

Author: Katherine M. Tsui
Publisher:
ISBN:
Category : Wheelchairs
Languages : en
Pages : 222

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Author: Redwan Alqasemi
Publisher:
ISBN: 9789533070704
Category :
Languages : en
Pages :

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Book Description
A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons, and to exceed the capabilities of current devices of this type. Combining the wheelchair control and the arm control through the augmentation of the Jacobian to include representations of both resulted in a control system that effectively and simultaneously controls both devices at once. The control system was designed for coordinated Cartesian control with singularity robustness and task-optimized combined mobility and manipulation. Weighted Least Norm solution was implemented to prioritize the motion between different arm joints and the wheelchair. Modularity in both the hardware and software levels allowed multiple input devices to be used to control the system, including the Brain-Computer Interface (BCI). The ability to communicate a chosen character from the BCI to the controller of the WMRA was presented, and the user was able to control the motion of WMRA system by focusing attention on a specific character on the screen. Further testing of different types of displays (e.g. commands, picture of objects, and a menu display with objects, tasks and locations) is planned to facilitate communication, mobility and manipulation for people with severe.

Author: Pablo Diez
Publisher: Academic Press
ISBN: 0128128933
Category : Technology & Engineering
Languages : en
Pages : 494

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Book Description
Smart Wheelchairs and Brain-Computer Interfaces: Mobile Assistive Technologies combines the fields of neuroscience, rehabilitation and robotics via contributions from experts in their field to help readers develop new mobile assistive technologies. It provides information on robotics, control algorithm design for mobile robotics systems, ultrasonic and laser sensors for measurement and trajectory planning, and is ideal for researchers in BCI. A full view of this new field is presented, giving readers the current research in the field of smart wheelchairs, potential control mechanisms and human interfaces that covers mobility, particularly powered mobility, smart wheelchairs, particularly sensors, control mechanisms, and human interfaces. Presents the first book that combines BCI and mobile robotics Focuses on fundamentals and developments in assistive robotic devices which are commanded by alternative ways, such as the brain Provides an overview of the technologies that are already available to support research and the development of new products

Author: Raj Madhavan
Publisher: Springer Science & Business Media
ISBN: 144190493X
Category : Computers
Languages : en
Pages : 351

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Book Description
To design and develop capable, dependable, and affordable intelligent systems, their performance must be measurable. Scienti?c methodologies for standardization and benchmarking are crucial for quantitatively evaluating the performance of eme- ing robotic and intelligent systems’ technologies. There is currently no accepted standard for quantitatively measuring the performance of these systems against user-de?ned requirements; and furthermore, there is no consensus on what obj- tive evaluation procedures need to be followed to understand the performance of these systems. The lack of reproducible and repeatable test methods has precluded researchers working towards a common goal from exchanging and communic- ing results, inter-comparing system performance, and leveraging previous work that could otherwise avoid duplication and expedite technology transfer. Currently, this lack of cohesion in the community hinders progress in many domains, such as m- ufacturing, service, healthcare, and security. By providing the research community with access to standardized tools, reference data sets, and open source libraries of solutions, researchers and consumers will be able to evaluate the cost and be- ?ts associated with intelligent systems and associated technologies. In this vein, the edited book volume addresses performance evaluation and metrics for intel- gent systems, in general, while emphasizing the need and solutions for standardized methods. To the knowledge of the editors, there is not a single book on the market that is solely dedicated to the subject of performance evaluation and benchmarking of intelligent systems.

Author: Cristina Urdiales
Publisher: Springer Science & Business Media
ISBN: 3642249027
Category : Technology & Engineering
Languages : en
Pages : 244

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Book Description
In nowadays aging society, many people require mobility assistance. Sometimes, assistive devices need a certain degree of autonomy when users' disabilities difficult manual control. However, clinicians report that excessive assistance may lead to loss of residual skills and frustration. Shared control focuses on deciding when users need help and providing it. Collaborative control aims at giving just the right amount of help in a transparent, seamless way. This book presents the collaborative control paradigm. User performance may be indicative of physical/cognitive condition, so it is used to decide how much help is needed. Besides, collaborative control integrates machine and user commands so that people contribute to self-motion at all times. Collaborative control was extensively tested for 3 years using a robotized wheelchair at a rehabilitation hospital in Rome with volunteer inpatients presenting different disabilities, ranging from mild to severe. We also present a taxonomy of common metrics for wheelchair navigation and tests are evaluated accordingly. Obtained results are coherent both from a quantitative and qualitative point of view.

Author: Punya A. Basnayaka
Publisher:
ISBN:
Category :
Languages : en
Pages :

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ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.

Author: Maria Patricia Del Rosario Jose
Publisher:
ISBN:
Category :
Languages : en
Pages : 0

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Book Description
Older adults (â Ľ 65 years) are the most prevalent wheelchair users in North America but many cannot safely drive a wheelchair due to physical/cognitive impairments. Intelligent wheelchairs (IWs) could be a solution, but are minimally clinically validated/commercialized since research has always focused on the underlying intelligent system, rather than the user's needs. Following prototype development of a multimodal user interface, based on recommendations from prior research, a usability study was conducted with three participants using single-subject research design. The multimodal interface (auditory, visual, haptic) gave warnings before obstacles, and provided instructions on how to navigate away from obstacles. Wizard-of-Oz, a technique where the subject believes the system to be autonomous, but is actually human-operated, was used to simulate IW autonomy. High device acceptance was found. Some observable, but not conclusive, improvements were found in usability of the device. Further development and investigation of the user interface is recommended.

Author: Francisco Rebelo
Publisher: AHFE International (USA)
ISBN: 1495121070
Category :
Languages : en
Pages : 732

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Book Description
Successful interaction with products, tools and technologies depends on usable designs and accommodating the needs of potential users without requiring costly training. In this context, this book is concerned with emerging ergonomics in design concepts, theories and applications of human factors knowledge focusing on the discovery, design and understanding of human interaction and usability issues with products and systems for their improvement. This book will be of special value to a large variety of professionals, researchers and students in the broad field of human modeling and performance who are interested in feedback of devices’ interfaces (visual and haptic), user-centered design, and design for special populations, particularly the elderly. We hope this book is informative, but even more - that it is thought provoking. We hope it inspires, leading the reader to contemplate other questions, applications, and potential solutions in creating good designs for all.

Author: Kevin D. Edwards
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons, and to exceed the capabilities of current devices of this type. The mechanical design incorporates DC servo drive, with all actuator hardware at each individual joint, allowing reconfigurable link lengths. It has seven principal degrees of freedom and uses a side mount on a power wheelchair. A simple, scalable control system allows coordinated Cartesian control, and offers expandability for future research, such as coordinated motion with the wheelchair itself. Design payload including gripper is 6 kg, and the total arm mass with controller is 14 kg. These and other design attributes were confirmed through testing on the completed prototype.

Author: David Nunes
Publisher: John Wiley & Sons
ISBN: 1119377781
Category : Technology & Engineering
Languages : en
Pages : 358

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Book Description
The first book focusing on one of the hottest new topics in Internet of Things systems research and development Studies estimate that by 2020 we will have a vast Internet of Things (IoT) network comprising 26 billion connected devices, including everything from light bulbs to refrigerators, coffee makers to cars. From the beginning, the concept of cyber-physical systems (CPS), or the sensing and control of physical phenomena through networks of devices that work together to achieve common goals, has been implicit in the IoT enterprise. This book focuses on the increasingly hot topic of Human-in-the-loop Cyber-Physical Systems (HiTLCPS)—CPSs that incorporate human responses in IoT equation. Why have we not yet integrated the human component into CPSs? What are the major challenges to achieving HiTLCPS? How can we take advantage of ubiquitous sensing platforms, such as smartphones and personal devices to achieve that goal? While mature HiTLCPS designs have yet to be achieved, or a general consensus reached on underlying HiTLCPS requirements, principles, and theory, researchers and developers worldwide are on the cusp of realizing them. With contributions from researchers at the cutting edge of HiTLCPS R&D, this book addresses many of these questions from the theoretical and practical points of view. An essential primer on a rapidly emerging Internet-of-Things concept, focusing on human-centric applications Discusses new topics which, until now, have only been available in research papers scattered throughout the world literature Addressed fundamental concepts in depth while providing practical insights into the development of complete HiTLCPS systems Includes a companion website containing full source-code for all of the applications described This book is an indispensable resource for researchers and app developers eager to explore HiTL concepts and include them into their designs. It is also an excellent primer for advanced undergraduates and graduate students studying IoT, CPS, and HiTLCPS.