Development of a Virtual Environment-Based Electrooculogram Control System for Safe Electric Wheelchair Mobility for Individuals with Severe Physical Disabilities

Conventional wheelchairs are predominantly manual or joystick-operated electric wheelchairs. However, operating these wheelchairs can be difficult or impossible for individuals with severe physical disabilities. Due to losing control of their physical limbs, they depend on an attendant for assistance. As a remedy, bio-signals may be used as a control mechanism since they are readily available and can be acquired from any body part. This research proposes to use EOG signals to vail a control mechanism and test it in a virtual and actual electric wheelchair. The main contribution of the study is an investigation of the use of EOG to control an electric wheelchair in a virtual environment to determine safe control parameters for wheelchair use in complex environments. A customized data acquisition circuit was developed to acquire single-channel EOG signals using wet electrodes. The acquired signal was filtered and processed using feature extraction and classification techniques in MATLAB software. Two customized control environments were developed in Unity 3D, one with equally partitioned sections and the other with sections decreasing in size as the robot wheelchair approaches the target. Twenty-two test subjects (mean age 24.5, std 1.5) participated in the study, controlling the robot wheelchair in real-time with non or least instances of collision and oversteering. The system achieved an accuracy of 96.5% with a response time of 0.7s, translating to an ITR of 70.6 bits/min. Overall, the participants managed to navigate the virtual environment with a completion time of 101.94s ± 19.71 and 109.07s ± 13.25 for the male and female participants, respectively. In the scene with decreasing section sizes, 72% and 54% instances of collision and oversteering were reported, respectively, highlighting the need to consider the complexity of the control environment and the sufficiency of the participants' control skills to ensure safety in operations. The results confirm the usefulness of EOG as a control interface, with little or no need for recalibration. It provides a promising avenue for individuals with severe physical disabilities to operate wheelchairs independently in complex environments, enhancing their quality of life

Empowering and assisting natural human mobility: The simbiosis walker

This paper presents the complete development of the Simbiosis Smart Walker. The device is equipped with a set of sensor subsystems to acquire user-machine interaction forces and the temporal evolution of user's feet during gait. The authors present an adaptive filtering technique used for the identification and separation of different components found on the human-machine interaction forces. This technique allowed isolating the components related with the navigational commands and developing a Fuzzy logic controller to guide the device. The Smart Walker was clinically validated at the Spinal Cord Injury Hospital of Toledo - Spain, presenting great acceptability by spinal chord injury patients and clinical staf

Support for Technical Phases and Conceptual Model

Worldwide, many wheelchair users find it difficult to use or acquire a wheelchair that is appropriate for them, either because they do not have the necessary financial support or because they do not have access to trained healthcare professionals (HCPs), but they are essential for the correct provision of assistive products and user training. Consequently, although wheelchairs are designed to promote the well-being of many users, in many cases, they end up being abandoned or do not provide any benefit, with the chance of causing harm and potentially putting people in danger. This article proposes the creation and use of a Digital Twin (DT) of a Power Wheelchair (PWC) to promote the health of wheelchair users, by facilitating and improving the delivery of remote services by HCPs, as well as to include monitoring services to support timely maintenance. Specifically, a DT is a virtual counterpart that is seamlessly linked to a physical asset, both relying on data and information exchange for mirroring each other. Currently, DT is emerging and being applied to different areas as a promising approach to gather insightful data, which are shared between the physical and virtual worlds and facilitate the means to design, monitor, analyze, optimize, predict, and control physical entities. This article gives an overview of the Digital Twin concept, namely its definition, types, and properties, and seeks to synthesize the technologies and tools frequently used to enable Digital Twins; we also explain how a DT can be used in the technical phases of the PWC provision process and propose a conceptual model highlighting the use of an MDD approach benefiting from a Petri net formalism, which is presented to systematize the development of a PWC Dpublishersversionpublishe

Autonomous Personal Mobility Scooter for Multi-Class Mobility-On-Demand Service

In this paper, we describe the design and development of an autonomous personal mobility scooter that was used in public trials during the 2016 MIT Open House, for the purpose of raising public awareness and interest about autonomous vehicles. The scooter is intended to work cooperatively with other classes of autonomous vehicles such as road cars and golf cars to improve the efficacy of Mobility-on-Demand transportation solutions. The scooter is designed to be robust, reliable, and safe, while operating under prolonged durations. The flexibility in fleet expansion is shown by replicating the system architecture and sensor package that has been previously implemented in the road car and golf cars. We show that the vehicle performed robustly with small localization variance. A survey of the users shows that the public is very receptive to the concept of the autonomous personal mobility device.Singapore-MIT Alliance for Research and Technology (SMART) (Future Urban Mobility research program)Singapore. National Research Foundatio

Proceedings of the International Workshop on the Design of Dependable Critical Systems “Hardware, Software, and Human Factors in Dependable System Design”

As technology advances, technical systems become increasingly complex not only in terms of functionality and structure but also regarding their handling and operation. In order to keep such complex safety-critical and mission-critical systems controllable, they are required to be highly dependable. Since the costs for designing, testing, operating, and maintaining such systems significantly increase with the dependability requirements, new design approaches for the cost effective development and production of dependable systems are required, covering hardware, software, and human factor aspects. This workshop aims at presenting and discussing the latest developments in this field, spanning the entire spectrum from theoretical works on system architecture and dependability measures to practical applications in safety and mission critical domains

Mobile Communication for People with Disabilities and Older People: New Opportunities for Autonomous Life

The fast diffusion of mobile telephony is opening a vast diversity of new opportunities for people with different levels of physical restrictions, these due to disability or ageing. For this people mobile technology not only allows ubiquity for communications but also anytime access to some services that are vital for their security and autonomy. Together with the numerous advantages, remote services can also mean important social and ethical risks for this group of users making indispensable that these risks are detected, analysed and avoided. Therefore, this paper analyses the novelties that mobile technology has introduced into the lives of users with disabilities and older people, points out some dangers and challenges arising from the use of these technologies and revises some future applications of the present mobile technologies

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools