Quadriplegia is a neuromuscular disease that may cause varying degrees of functional loss in trunk and limbs.In such cases,head movements can be used as an alternative communication channel.In this study,a human–mach...Quadriplegia is a neuromuscular disease that may cause varying degrees of functional loss in trunk and limbs.In such cases,head movements can be used as an alternative communication channel.In this study,a human–machine interface which is controlled by human head movements is designed and implemented.The proposed system enables users to steer the desired movement direction and to control the speed of an output device by using head movements.Head movements of the users are detected using a 6 DOF IMUs measuring three-axis accelerometer and three-axis gyroscope.The head movement axes and the Euler angles have been associated with movement direction and speed,respectively.To ensure driving safety,the speed of the system is determined by considering the speed requested by the user and the obstacle distance on the route.In this context,fuzzy logic algorithm is employed for closed-loop speed control according to distance sensors and reference speed data.A car model was used as the output device on the machine interface.However,the wireless communication between human and machine interfaces provides to adapt this system to any remote device or systems.The implemented system was tested by five subjects.Performance of the system was evaluated in terms of task completion times and feedback from the subjects about their experience with the system.Results indicate that the proposed system is easy to use;and the control capability and usage speed increase with user experience.The control speed is improved with the increase in user experience.展开更多
目的:基于陀螺仪、三维手术设计软件建立自然头位(nature head position,NHP)记录及转移系统,在手术设计软件中将"数字头颅"重置于自然头位,评估该系统的可行性和精确度。方法:基于陀螺仪和三维编辑软件建立自然头位记录及转...目的:基于陀螺仪、三维手术设计软件建立自然头位(nature head position,NHP)记录及转移系统,在手术设计软件中将"数字头颅"重置于自然头位,评估该系统的可行性和精确度。方法:基于陀螺仪和三维编辑软件建立自然头位记录及转移系统。(1)通过牙合叉、面弓等装置将陀螺仪与患者头部固联。患者佩戴陀螺仪装置,通过镜像调整头颅位姿到自然头位后,用陀螺仪记录即刻头颅的俯仰角(Pitch)、横滚角(Roll)和侧偏角(Yaw),这是实际NHP。(2)当陀螺仪位姿为零位时(Pitch=0°,Roll=0°,Yaw=0°),进行锥体束CT扫描,三维重建后得到标准陀螺仪模型。(3)将患者数字头颅与标准陀螺仪模型配准融合,两物体共同旋转至记录的NHP位姿(Pitch、Roll,Yaw),数字头颅在虚拟环境下重置于NHP,是为虚拟NHP。(4)采用标准立方体作为试件,将其摆放于任意位姿,分别记录其实际位姿和虚拟位姿,进行30次实验,计算实际位姿与虚拟位姿的差异(ΔPitch,ΔRoll,ΔYaw),如符合正态分布,对实际位姿与虚拟位姿的3个角度分别进行配对t检验,对它们的相关性进行Pearson检验。结果:陀螺仪装置能够记录患者头颅位姿,并可通过软件将该位姿转移至手术设计系统。ΔPitch=0.03°±0.28°,ΔRoll=0.03°±0.23°,ΔYaw=0.07°±0.49°,立方体实际位姿与转换后虚拟位姿相应角度差异均无统计学意义(P>0.05);Pearson检验得到两者在α=0.01水平(双向)显著相关(r=1.00)。结论:基于陀螺仪装置和三维手术设计软件的自然头位记录、转移系统精度满足正颌外科手术设计需求,操作流程具备可行性。展开更多
基金the Scientific and Technological Research Council of Turkey(TUBITAK).
文摘Quadriplegia is a neuromuscular disease that may cause varying degrees of functional loss in trunk and limbs.In such cases,head movements can be used as an alternative communication channel.In this study,a human–machine interface which is controlled by human head movements is designed and implemented.The proposed system enables users to steer the desired movement direction and to control the speed of an output device by using head movements.Head movements of the users are detected using a 6 DOF IMUs measuring three-axis accelerometer and three-axis gyroscope.The head movement axes and the Euler angles have been associated with movement direction and speed,respectively.To ensure driving safety,the speed of the system is determined by considering the speed requested by the user and the obstacle distance on the route.In this context,fuzzy logic algorithm is employed for closed-loop speed control according to distance sensors and reference speed data.A car model was used as the output device on the machine interface.However,the wireless communication between human and machine interfaces provides to adapt this system to any remote device or systems.The implemented system was tested by five subjects.Performance of the system was evaluated in terms of task completion times and feedback from the subjects about their experience with the system.Results indicate that the proposed system is easy to use;and the control capability and usage speed increase with user experience.The control speed is improved with the increase in user experience.
文摘目的:基于陀螺仪、三维手术设计软件建立自然头位(nature head position,NHP)记录及转移系统,在手术设计软件中将"数字头颅"重置于自然头位,评估该系统的可行性和精确度。方法:基于陀螺仪和三维编辑软件建立自然头位记录及转移系统。(1)通过牙合叉、面弓等装置将陀螺仪与患者头部固联。患者佩戴陀螺仪装置,通过镜像调整头颅位姿到自然头位后,用陀螺仪记录即刻头颅的俯仰角(Pitch)、横滚角(Roll)和侧偏角(Yaw),这是实际NHP。(2)当陀螺仪位姿为零位时(Pitch=0°,Roll=0°,Yaw=0°),进行锥体束CT扫描,三维重建后得到标准陀螺仪模型。(3)将患者数字头颅与标准陀螺仪模型配准融合,两物体共同旋转至记录的NHP位姿(Pitch、Roll,Yaw),数字头颅在虚拟环境下重置于NHP,是为虚拟NHP。(4)采用标准立方体作为试件,将其摆放于任意位姿,分别记录其实际位姿和虚拟位姿,进行30次实验,计算实际位姿与虚拟位姿的差异(ΔPitch,ΔRoll,ΔYaw),如符合正态分布,对实际位姿与虚拟位姿的3个角度分别进行配对t检验,对它们的相关性进行Pearson检验。结果:陀螺仪装置能够记录患者头颅位姿,并可通过软件将该位姿转移至手术设计系统。ΔPitch=0.03°±0.28°,ΔRoll=0.03°±0.23°,ΔYaw=0.07°±0.49°,立方体实际位姿与转换后虚拟位姿相应角度差异均无统计学意义(P>0.05);Pearson检验得到两者在α=0.01水平(双向)显著相关(r=1.00)。结论:基于陀螺仪装置和三维手术设计软件的自然头位记录、转移系统精度满足正颌外科手术设计需求,操作流程具备可行性。
