Heitmann Jan, Köhn Carsten, Stefanov Dimitar
Department of Electrical Engineering & Computer science, Bochum University of Applied Sciences, Bochum, Germany.
IEEE Int Conf Rehabil Robot. 2011;2011:5975482. doi: 10.1109/ICORR.2011.5975482.
We introduce a novel approach for proportional head control for robotic wheelchairs. An array of force sensors embedded into the headrest is used to monitor the pressure distribution changes due to the intentional head motions of the patient. The force signals are analysed and converted into fully proportional signals that control the wheelchair direction and speed. We developed a prototype interface that generates signals similar to the signals of a standard joystick control box and connected the new interface to a standard Invacare wheelchair. Tests showed that all users adapted to the control algorithm very quickly and were able to follow very precisely complex target trajectories on various speeds. The interface does not require any attachments to the user's head and does not cause any limitation of the user's field of view.
我们介绍了一种用于机器人轮椅比例头部控制的新颖方法。嵌入头枕的一系列力传感器用于监测由于患者有意识的头部动作而引起的压力分布变化。对力信号进行分析并转换为完全成比例的信号，以控制轮椅的方向和速度。我们开发了一种原型接口，该接口生成与标准操纵杆控制盒的信号类似的信号，并将新接口连接到标准的英维康轮椅上。测试表明，所有用户都能非常快速地适应控制算法，并且能够在各种速度下非常精确地跟踪复杂的目标轨迹。该接口不需要与用户头部有任何连接，也不会对用户的视野造成任何限制。
