The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs an...The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.展开更多
The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the ...The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the user on the wheelchair wants to operate the computer for his jobs or enjoyment, it is preferable for the user to be able to operate the computer without transferring from the wheelchair to a computer desk. Of course, some computer input devices are available for wheelchairs. One reasonable idea is to use the familiar joystick on the wheelchair as a computer input device. In this paper a joystick controller is proposed, which enables the user on the wheelchair to operate the computer settled on a nearby table. The proposed joystick controller can be achieved by mounting the sensor unit on the joystick without any modification of the conventional wheelchair controller. The principle of the sensing unit is to measure the inclination angle and the direction of the joystick with an acceleration and gyro sensor. Then the sensing unit sends the control data to the computer via an infrared or wireless signal. This proposal is based on a request done by the wheelchair users.展开更多
Most of the spatially moving vehicles and game controllers use a 2-3 DOF （degrees of freedom） joystick to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freed...Most of the spatially moving vehicles and game controllers use a 2-3 DOF （degrees of freedom） joystick to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freedom, such as helicopters, quadrotors, and planes. Therefore, additional equipment like pedals or buttons is required during the manipulation. In this study, a passive Stewart platform based 6 degrees of freedom joystick was developed to control spatially moving objects. The Stewart platform mechanism is a 6-degrees of freedom parallel mechanism, which has been used for simulators. The main challenge of using a parallel mechanism to manipulate objects is the computational burden of its forward kinematics. Therefore, an artificial neural network was used for the forward kinematic solution of the Stewart platform mechanism to obtain the fastest response. Linear potentiometers were used for the Stewart platform legs. A mathematical model of a quadrotor was used to test the capability of the joystick. The developed spatial joystick successfully manipulated the virtual quadrotor model.展开更多
文摘The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.
文摘The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the user on the wheelchair wants to operate the computer for his jobs or enjoyment, it is preferable for the user to be able to operate the computer without transferring from the wheelchair to a computer desk. Of course, some computer input devices are available for wheelchairs. One reasonable idea is to use the familiar joystick on the wheelchair as a computer input device. In this paper a joystick controller is proposed, which enables the user on the wheelchair to operate the computer settled on a nearby table. The proposed joystick controller can be achieved by mounting the sensor unit on the joystick without any modification of the conventional wheelchair controller. The principle of the sensing unit is to measure the inclination angle and the direction of the joystick with an acceleration and gyro sensor. Then the sensing unit sends the control data to the computer via an infrared or wireless signal. This proposal is based on a request done by the wheelchair users.
文摘Most of the spatially moving vehicles and game controllers use a 2-3 DOF （degrees of freedom） joystick to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freedom, such as helicopters, quadrotors, and planes. Therefore, additional equipment like pedals or buttons is required during the manipulation. In this study, a passive Stewart platform based 6 degrees of freedom joystick was developed to control spatially moving objects. The Stewart platform mechanism is a 6-degrees of freedom parallel mechanism, which has been used for simulators. The main challenge of using a parallel mechanism to manipulate objects is the computational burden of its forward kinematics. Therefore, an artificial neural network was used for the forward kinematic solution of the Stewart platform mechanism to obtain the fastest response. Linear potentiometers were used for the Stewart platform legs. A mathematical model of a quadrotor was used to test the capability of the joystick. The developed spatial joystick successfully manipulated the virtual quadrotor model.
