A robotic wheelchair is assumed to be capable of doing tasks like navigation, obstacle detection, etc. using sensors and intelligence. The initial part of the work was development of a cap controlled wheelchair to tes...A robotic wheelchair is assumed to be capable of doing tasks like navigation, obstacle detection, etc. using sensors and intelligence. The initial part of the work was development of a cap controlled wheelchair to test and verify the gesture operation. Following that, a real time operating wheelchair was developed consisting of mode changing option between joystick control mode and head gesture control mode as per as the user’s requirement. The wheelchair consists of MPU6050 sensor, joystick module, RF module, battery, dc motor, toggle switch and Arduino. The movement of the head is detected by MPU6050 and the signal is transmitted to the microcontroller. Then the signal is processed by controller and motion of wheelchair is enabled for navigation. The wheelchair was capable of moving left, right, forward and backward direction. The speed of the wheelchair was 4.8 km/h when tested. Design objective of the wheelchair included cost effectiveness without compromising safety, flexibility and mobility for the users.展开更多
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
文摘A robotic wheelchair is assumed to be capable of doing tasks like navigation, obstacle detection, etc. using sensors and intelligence. The initial part of the work was development of a cap controlled wheelchair to test and verify the gesture operation. Following that, a real time operating wheelchair was developed consisting of mode changing option between joystick control mode and head gesture control mode as per as the user’s requirement. The wheelchair consists of MPU6050 sensor, joystick module, RF module, battery, dc motor, toggle switch and Arduino. The movement of the head is detected by MPU6050 and the signal is transmitted to the microcontroller. Then the signal is processed by controller and motion of wheelchair is enabled for navigation. The wheelchair was capable of moving left, right, forward and backward direction. The speed of the wheelchair was 4.8 km/h when tested. Design objective of the wheelchair included cost effectiveness without compromising safety, flexibility and mobility for the users.
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.
