Hybrid wheelchair controller for handicapped and quadriplegic patients

In this dissertation, a hybrid wheelchair controller for handicapped and quadriplegic patient is proposed. The system has two sub-controllers which are the voice controller and the head tilt controller. The system aims to help quadriplegic, handicapped, elderly and paralyzed patients to control a robotic wheelchair using voice commands and head movements instead of a traditional joystick controller. The multi-input design makes the system more flexible to adapt to the available body signals. The low-cost design is taken into consideration as it allows more patients to use this system

EYECOM: an innovative approach for computer interaction

The world is innovating rapidly, and there is a need for continuous interaction with the technology. Sadly, there do not exist promising options for paralyzed people to interact with the machines i.e., laptops, smartphones, and tabs. A few commercial solutions such as Google Glasses are costly and cannot be afforded by every paralyzed person for such interaction. Towards this end, the thesis proposes a retina-controlled device called EYECOM. The proposed device is constructed from off-the-shelf cost-effective yet robust IoT devices (i.e., Arduino microcontrollers, Xbee wireless sensors, IR diodes, and accelerometer). The device can easily be mounted on to the glasses; the paralyzed person using this device can interact with the machine using simple head movement and eye blinks. The IR detector is located in front of the eye to illuminate the eye region. As a result of illumination, the eye reflects IR light which includes electrical signals and as the eyelids close, the reflected light over eye surface is disrupted, and such change in reflected value is recorded. Further to enable cursor movement onto the computer screen for the paralyzed person a device named accelerometer is used. The accelerometer is a small device, with the size of phalanges, a human thumb bone. The device operates on the principle of axis-based motion sensing and it can be worn as a ring by a paralyzed person. A microcontroller processes the inputs from the IR sensors, accelerometer and transmits them wirelessly via Xbee wireless sensor (i.e., a radio) to another microcontroller attached to the computer. With the help of a proposed algorithm, the microcontroller attached to the computer, on receiving the signals moves cursor onto the computer screen and facilitate performing actions, as simple as opening a document to operating a word-to-speech software. EYECOM has features which can help paralyzed persons to continue their contributions towards the technological world and become an active part of the society. Resultantly, they will be able to perform number of tasks without depending upon others from as simple as reading a newspaper on the computer to activate word-to-voice software

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

How power tilt is used in daily life to manage sitting pressure: Perspectives of adults who use power tilt and therapists who prescribe this technology

Recent research studies have identified that use of large amplitudes of power tilt as a pressure management strategy used by adults who use wheelchairs and are at risk of developing pressure ulcers, was low. While the reason for low use was not identified, a lack of fit between using large amplitudes of tilt and daily life function was speculated as a main reason across studies. Using a post-positivist grounded theory approach, this study explored how power tilt was used in daily life particularly for managing sitting pressures, from the perspectives of five people experienced with using power tilt and six therapists who prescribe power tilt. Data were collected from two in-depth semi-structured interviews and a journal that tracked the context of tilt occurrences throughout each of three days. Theoretical saturation was reached at five and six participants respectively. Data were analyzed in separate groups and then combined using a constant comparative approach. The analysis resulted in the generation of a substantive theory from which the process of using power tilt in the context of daily life can be understood. The abstract, cognitive nature of the process specific to using power tilt for pressure management differed from the tacit and tangible nature of the process for all other daily life uses of power tilt. Contextual elements were identified which affected the use of large amplitudes of tilt such as fear of tipping over, social image and lack of functionality. The critical influence of knowledge related to using tilt for pressure management is highlighted including potential implications for clinical practice. The theory scheme offers a preliminary avenue for examining the transactive relationships of person, environment, technology and occupation that comprise daily life, influencing how power tilt is used. The substantive theory and its associated concepts contribute to the wheelchair technology field, addressing the identified knowledge gap specific to advancing the understanding of how power tilts, and potentially other wheelchair technologies, are integrated in daily life occupations. The substantive theory is preliminary, requiring further research however; potential is demonstrated to also inform the understanding of the person-environment-occupation relationship in the discipline of occupational science

Study and reformulation of the technical aid device HomeHoist

Dissertação de mestrado integrado em Engenharia BiomédicaCerebral palsy manifests itself in the first years of a child's life and may be caused by brain injuries, or abnormal brain development, reflecting in disorders in the child's motor capacity, each case varying in terms of severity and type of motor disorders. The average life expectancy of these children has been increasing, which means that it is relevant to find alternatives to improve the quality of life of those affected by this condition. Thus, the HomeHoist project emerged, which aimed to function as a single device for transferring patients with cerebral palsy without burdening the caregiver. The HomeHoist device consisted of an electric wheelchair, with a built-in hoist, removable seat, and free interior space, which allowed the patient to be transferred between various surfaces, such as beds and toilets. Following an internship at the company Orthos XXI, the interest arose to revive this project, which had been concluded in 2014. The aspects identified for improving the device were to incorporate verticalization; include leg raising, which despite being a goal in the original project, was not achieved; split the seat and backrest to customize the operation of the device; free up the lateral space on the seat to facilitate patient handling; and change the structure and components to meet the company's production, reducing production time and cost. Using project methodologies such as the goal tree, analysis of functions, and the method of weighted goals, it was possible, among several solutions, to understand which ones best fit the intended goals, followed by the determination of dimensional constraints and the selection and placement of mechanical components, to obtain a 3D model of the final device. With the model it was possible to obtain 65º verticalization; 155º reclination; the dimensions of the device were as intended; and the foot elevation was incorporated, although it did not allow to completely stretch the legs. Then, a brief analysis of the electrical components to be incorporated was made, followed by the simulation of two components, and with the simulation of one of them, the arch, it was realised that it would have to be redesigned to withstand the load that was applied to it, by increasing the diameter of the tube and the positioning of the rings. Finally, with the production of the prototype, it was possible to understand what should be improved to facilitate the production of the device, both in terms of production and assembly. The functioning of the device was also tested, to confirm the information obtained with the 3D model.A paralisia cerebral manifesta-se nos primeiros anos de vida de uma criança e pode ser provocada por lesões cerebrais, ou desenvolvimento cerebral anormal, refletindo-se em distúrbios na capacidade motora da mesma, cada caso variando em termos de severidade e de tipo de disfunções motoras. A esperança média de vida destas crianças tem vindo a aumentar, o que significa que é relevante encontrar alternativas para melhorar a qualidade de vida daqueles afetados por esta condição. Assim, surgiu o projeto HomeHoist, que tinha como objetivo funcionar como dispositivo único para a transferência de pacientes com paralisia cerebral, sem sobrecarregar o prestador de cuidados. O dispositivo HomeHoist consistia numa cadeira de rodas elétrica, com uma grua incorporada, assento removível e o espaço interior livre, o que permitia transferir o paciente entre várias superfícies, como a cama e vasos sanitários. No seguimento de um estágio na empresa Orthos XXI, surgiu o interesse em reavivar este projeto, que tinha sido concluído em 2014. Os aspetos identificados para a melhoria do dispositivo foram incorporar a função de verticalização; adicionar a elevação de pernas, que apesar de ser um objetivo no projeto original, não foi alcançado; dividir o assento e o encosto de costas, para personalizar o funcionamento do dispositivo; libertar o espaço lateral no assento, para facilitar o manuseamento do paciente; e alterar a estrutura e componentes para irem de encontro à produção da empresa, reduzindo o tempo e custo de produção. Usando metodologias de projeto, como a árvore de objetivos, análise de funções e o método dos objetivos ponderados, foi possível de entre várias soluções, compreender quais as que melhor se enquadravam nos objetivos pretendidos, seguindo-se então a determinação das restrições dimensionais e de seleção e colocação de componentes mecânicos, para obter um modelo 3D do dispositivo final. Com o modelo foi possível obter verticalização de 65º; reclinação de 155º; as dimensões do dispositivo foram ao encontro do pretendido; e a elevação de pés foi incorporada, apesar de não permitir esticar completamente as pernas. De seguida, foi feita uma breve análise dos componentes elétricos a ser incorporados, seguida da simulação FEM de dois componentes, sendo que, com a simulação de um deles, o arco, percebeu-se que o mesmo teria de ser alterado de modo a aguentar a carga que lhe era aplicada, aumentando-se o diâmetro do tubo e o posicionamento das argolas. Por fim, com a produção do protótipo foi possível perceber o que deveria ser melhorado para facilitar a produção do dispositivo, tanto em termos de produção como de montagem. Foi também testado o funcionamento do dispositivo, para confirmar a informação obtida com o modelo 3D

Ultra high frequency (UHF) radio-frequency identification (RFID) for robot perception and mobile manipulation

Personal robots with autonomy, mobility, and manipulation capabilities have the potential to dramatically improve quality of life for various user populations, such as older adults and individuals with motor impairments. Unfortunately, unstructured environments present many challenges that hinder robot deployment in ordinary homes. This thesis seeks to address some of these challenges through a new robotic sensing modality that leverages a small amount of environmental augmentation in the form of Ultra High Frequency (UHF) Radio-Frequency Identification (RFID) tags. Previous research has demonstrated the utility of infrastructure tags (affixed to walls) for robot localization; in this thesis, we specifically focus on tagging objects. Owing to their low-cost and passive (battery-free) operation, users can apply UHF RFID tags to hundreds of objects throughout their homes. The tags provide two valuable properties for robots: a unique identifier and receive signal strength indicator (RSSI, the strength of a tag's response). This thesis explores robot behaviors and radio frequency perception techniques using robot-mounted UHF RFID readers that enable a robot to efficiently discover, locate, and interact with UHF RFID tags applied to objects and people of interest. The behaviors and algorithms explicitly rely on the robot's mobility and manipulation capabilities to provide multiple opportunistic views of the complex electromagnetic landscape inside a home environment. The electromagnetic properties of RFID tags change when applied to common household objects. Objects can have varied material properties, can be placed in diverse orientations, and be relocated to completely new environments. We present a new class of optimization-based techniques for RFID sensing that are robust to the variation in tag performance caused by these complexities. We discuss a hybrid global-local search algorithm where a robot employing long-range directional antennas searches for tagged objects by maximizing expected RSSI measurements; that is, the robot attempts to position itself (1) near a desired tagged object and (2) oriented towards it. The robot first performs a sparse, global RFID search to locate a pose in the neighborhood of the tagged object, followed by a series of local search behaviors (bearing estimation and RFID servoing) to refine the robot's state within the local basin of attraction. We report on RFID search experiments performed in Georgia Tech's Aware Home (a real home). Our optimization-based approach yields superior performance compared to state of the art tag localization algorithms, does not require RF sensor models, is easy to implement, and generalizes to other short-range RFID sensor systems embedded in a robot's end effector. We demonstrate proof of concept applications, such as medication delivery and multi-sensor fusion, using these techniques. Through our experimental results, we show that UHF RFID is a complementary sensing modality that can assist robots in unstructured human environments.PhDCommittee Chair: Kemp, Charles C.; Committee Member: Abowd, Gregory; Committee Member: Howard, Ayanna; Committee Member: Ingram, Mary Ann; Committee Member: Reynolds, Matt; Committee Member: Tentzeris, Emmanoui

Virtual Reality Games for Motor Rehabilitation

This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion

Intelligent Management System for Driverless Vehicles

This research addresses concerns related to driverless vehicles by proposing the development of an Intelligent Management System (IMS). Emphasised in 'The Pathway to Driverless Cars Summary report and action plan' by the UK Department of Transport, key areas for improvement lie in vehicle reliability, maintenance, and passenger safety. The study targets compliance with Society of Automotive Engineers (SAE) Level 5 automation, concentrating on fully autonomous vehicles to enhance commuter satisfaction and overall vehicle performance. Despite advancements, challenges such as on-road safety and integration persist. The research unfolds through a two-stage development process aimed at achieving an Intelligent Management System for Driverless Vehicles (IMSDV). The initial stage, described in chapter 3 involves the creation of a 'Single Seat Driverless Pod' as a test apparatus, simulating various features found in existing driverless vehicles. This includes the development of mechanical steering components and a control system incorporating electronic hardware, sensors, actuators, controllers, wireless remote access, and software. The subsequent phase, described in chapter 4 focuses on autonomous navigation using Google Maps, intelligent motion control, localisation, and tracking algorithms within the driverless pod. The latter chapters of the thesis present the investigation of possible improvements in steering system components. A novel encapsulated vehicle wheel condition monitoring system, integrating the Internet of Things (IoT), is proposed to enhance maintainability, reliability, and passenger safety for driverless vehicles. Testing and validation are conducted in two segments. The driverless pod undergoes initial testing to validate its features and generate data for further sub-system development. Separately, the IoT-based monitoring system undergoes individual testing. The final step involves integrating the IoT capabilities into the driverless pod, testing the sub-system, and capturing relevant data. The thesis outlines the research scope, emphasising significant contributions, with a particular focus on the monitoring system for steering components in driverless vehicles, employing embedded IoT technology. This augmentation, alongside other original contribution, is strategically poised to enhance the maintainability, reliability, and safety of driverless vehicles at SAE Level 5. The concluding chapter succinctly revisits these distinctive contributions and additionally provides recommendations for advancing intelligent management systems for driverless vehicles