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1
Johansson, Jonas, and Daniel Petersson. "Torque Sensor Free Power Assisted Wheelchair." Thesis, Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-656.
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A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Today’s electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. The force sensors in the pushrims are rather expensive and this approach also makes the wheels a little bit clumsy. The objective with this project is to find a new, better and cheaper solution that does not use expensive force sensors in the pushrims. The new power assisted wheelchair will instead only rely on its velocity, which is measured with rotational encoders, as feedback signal and thereby the project name “Torque Sensor Free Power Assisted Wheelchair”.
The project consisted of two main parts; an extensive construction part, where an ordinary joystick controlled motorized wheelchair has been rebuild to the new power assisted wheelchair without torque sensors and a development part, where different torque sensor free controllers has been designed, simulated, programmed and tested.
The project resulted in a torque sensor free power assisted wheelchair, where the final implemented design is a proportional derivative controller, which gives a very good assisting system that is robust and insensitive to measurement noise. The proportional derivative control design gives two adjustable parameters, which can be tuned to fit a certain user; one parameter is used to adjust the amplification of the user’s force and the other one is used to change the lasting time of the propulsion influence.
Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.
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Liadis, Keith Nicholas. "Design of a Power-Assist Hemiplegic Wheelchair." Digital WPI, 2006. https://digitalcommons.wpi.edu/etd-theses/794.
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Current one-handed manual wheelchairs are difficult to propel because one arm can only provide half the power that is ascertained in a two-handed manual wheelchair. A power-assisted hemiplegic (one-sided paralysis) wheelchair was developed that can effectively be propelled with one arm while remaining maneuverable, lightweight, and foldable. An existing manual wheelchair was minimally modified and fitted with powerassisted components that could alternatively be attached to a wide range of manual wheelchairs. The design implements a motor and gear train to power the wheel on the users affected side, encoders on both rear wheels to track wheel position, and a heel interface on the footrest to control steering. A controls program was developed that analyzes wheel position and steering to respond to the motion of the hand-driven wheel. Extensive testing was performed to ensure design integrity. Testing results showed that the prototype successfully met and exceeded predetermined design specifications based on industry standard testing procedures. The design has the potential to deliver increased freedom to a considerable consumer base.
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Hu, Yiwei. "Development of wireless network system on a power wheelchair." Thesis, University of Canterbury. Mechanical Engineering, 2012. http://hdl.handle.net/10092/7661.
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The development of wireless communication technology offers new opportunities to enhance the functionalities of mobility systems (e.g. powers wheelchairs and robots). This thesis presents new hardware and software architecture to offer ease of user control and power efficiency to an autonomous mobility system by using Wireless Networked Control (WSC). A wireless network is applied to perform both environment sensing and user control. The development will be demonstrated through a case study on a power wheelchair.
The challenge in the development of such a wireless solution is to accomplish a set of system activities (e.g. system initialization, system monitoring, power management) under different circumstances within a dynamic wireless network without sacrificing flexibility, energy-efficiency, or reliability.
The optimal way to achieve this is to design a protocol stack orientated to the demand of a specific system with cross-layer optimization. However, it requires significant design effort. In this thesis, a wireless network is constructed by utilizing a commercial-of-the-shelf (COTS) protocol. The development focuses on system integration and Application Layer. This accelerates the development progress with the benefits of cost effectiveness and less burden on protocol design. However, the COTS protocol is not able to provide a solution with maximum efficiency, because that the development of a COTS protocol is constrained by many factors. For example, the low layers of a COTS protocol are usually not available for customization due to the license issue.
The aim of this project is to develop a wireless platform to enable wireless functional devices to be added into a mobile system. The main benefit of such a wireless network system (WNS) is to allow new modules to be readily incorporated into the mobility system, which otherwise are difficult, because either, the physical wiring is prohibitive or the current system does not allow the signals to be processed.
The strategy for developing such a wireless network with desired functionalities is to build both identity management module and power management module based upon system design and Application Layer development. The identity management module allows the system to perform self-construction and self-maintenance and the power management offers high power efficiency. These two modules are developed independently and integrated into an autonomous control loop. Transitions between different modules are achieved by handshaking protocols. The advantage of such a strategy is the ease for customization and extension. The infrastructure includes gateway, Log-in system and radio frequency (RF) platform.
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Clark, Laura L. "Design and Testing of a Quick-Connect Wheelchair Power Add-On Unit." Diss., Virginia Tech, 1997. http://hdl.handle.net/10919/30289.
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A quick-connect wheelchair power add-on unit (PAU) has been developed at the Human Factors Engineering Center of Virginia Tech. The objective of the new invention is to provide an inexpensive, highly portable product which can quickly convert a manual wheelchair into a power-operated wheelchair. This dissertation details the three year research and design effort to develop the new wheelchair PAU. Results are presented from a series of evaluations conducted to identify performance and user-interaction characteristics of the PAU. Interpretation of the results provides a prioritized list of identified design deficiencies along with wheelchair expert and design team suggestions for the next generation of design alterations.
The three evaluations conducted with the second generation PAU prototype include a series of wheelchair expert interviews, a PAU performance evaluation, and a usability evaluation which utilized wheelchair operators as subjects. Also included in the dissertation is an explanation of the need for a new PAU, a description of the most recent design iteration, a literature review containing information about the history of wheelchairs, the condition of the current PAU market, and an analysis of wheelchair PAU consumers.
The new invention was conceived and patented by Dr. John G. Casali of the Industrial and Systems Engineering (ISE) Department at Virginia Tech. This research was supported jointly by Southwestern Applied Technologies, L. C., of Roanoke, Virginia and Virginia's Center for Innovative Technology in Herndon, Virginia.Ph. D.
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Manrique, Lisette M. "The Impact of Using an Obstacle Sensing System in the Power Wheelchair Training of Children with Disabilities." Link to electronic thesis, 2005. http://www.wpi.edu/Pubs/ETD/Available/etd-050305-133909/.
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Young, Jason A. "Development and validation of a model for analyzing the stability of a power wheelchair." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0001/MQ40980.pdf.
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Rivera, Alfredo (Alfredo M. )., and Timothy Studley. "Design and manufacturing proposal for a stair-climbing wheelchair without an external power source." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40945.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Includes bibliographical references (leaf 26).
With over two million wheelchair users in the United States, many buildings have struggled to provide accessible elevators and ramps for the disabled. The only other option for the disabled to ascend stairs is to purchase a high-tech battery-operated wheelchair with elaborate sensors and gyroscopes, which can cost around $25,000. As a result, there is a high demand for a cheap and efficient way to climb stairs with a practical wheelchair. With the safety of the user as a main concern, it is the goal of this report to provide a light-weight, inexpensive stair-climbing wheelchair. In order to significantly reduce cost of production, the wheelchair will not have any outside power source. The user's strength is the only means of energy for climbing. Our specific design relies on three critical modules: wheels with retractable spokes, a lock-in ratchet on the axel, and a seat-tilting mechanism. By focusing on integrating light-weight materials into the design, the force required to operate the wheelchair should be very manageable. The next stages of manufacturing were determined and explicitly outlined. Using SolidWorks and previously developed components, a complete manufacturing proposal has been formulated. The production calls for two additional wheels with retractable spokes, two locking mechanisms of the main axel, and a tilt-in-space feature using gas springs. The final product should provide the disabled with a safe, reliable, and inexpensive wheelchair capable of ascending nearly any staircase.
by Alfredo Rivera [and] Timothy Studley.
S.B.
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WIGGERMANN, NEAL. "COMPLIANCE AND EVALUATION OF CODE FOR LOW ENERGY POWER OPERATED HANDICAP ACCESSIBLE DOORS." University of Cincinnati / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1187366086.
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Favey, Clément. "Contribution à la profilométrie optique active, pour la sécurisation des déplacements de fauteuils roulants électriques." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLS468.
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En France, plus de 2 enfants sur 1000 naissent avec une « Paralysie Cérébrale », provoquée par des lésions au niveau cérébral. Cette pathologie non-évolutive, entraine des troubles de la motricité et du processus attentionnel. Certains de ces enfants n’ont pas accès au fauteuil roulant électrique pour des raisons de sécurité, car susceptibles de commettre des erreurs dangereuses de pilotage. Ils n’ont donc pas accès à l’autonomie et se déplacent en fauteuil manuel poussé par une tierce personne. Or, aujourd’hui les études médicales du domaine font consensus sur la nécessité de l’accession au déplacement autonome, indispensable pour le développement personnel, intellectuel et la participation sociale de toute personne, handicapée ou non. Ce travail de thèse a pour but de développer un système optronique adaptable, permettant de transformer un fauteuil roulant électrique classique, en fauteuil roulant semi-autonome. Ceci signifie que l’utilisateur garde le contrôle de la direction et de la vitesse du fauteuil, mais que des capteurs peuvent inhiber les commandes empêchant les situations de basculement (trottoirs, escaliers, etc.) ou de collision frontale. La priorité est placée sur un dispositif constitué d’une combinaison de capteurs pouvant s’adapter sur les différents modèles existants de fauteuil en respectant leur encombrement initial. Tous les capteurs utilisés ou conçus pour l’objectif recherché, doivent maintenir leurs performances dans tous les environnements (intérieur, extérieur, fort ensoleillement, goudron mouillé, etc.). La consommation énergétique totale ne doit pas excéder quelques Watts. Concernant l’anticollision frontale et le passage de portes, nous avons développé une solution associant pour chaque côté du fauteuil un double capteur infrarouge et un capteur à ultrasons. Les capteurs infrarouges, développés en interne, sont conçus pour avoir des zones de protection cylindriques, permettant de détecter efficacement les passages dégagés de la taille du fauteuil et gérer les angles grâce au double capteur. Le capteur à ultrasons est destiné à gérer les obstacles fins foncés frontaux à courte distance pouvant échapper aux capteurs infrarouges. Concernant le contrôle de la planéité du sol et donc l’antibasculement, un lidar laser miniature trifaisceaux a été développé pour protéger chaque roue avec 1 m d’anticipation. Les données des différents capteurs seront couplées à l’odométrie du fauteuil afin de prendre les décisions sur les commandes. Les capteurs sont conçus pour assurer une anticipation suffisante jusqu’à 3km/h. Il s’agit d’une vitesse faible, mais adaptée à des utilisateurs qui dans le contexte actuel ne sont pas autorisés à piloter. Des tests en situation réelle dans des situations climatiques variées sont réalisésIn France, more than 2 children out of 1000 are born with "Cerebral Palsy", caused by lesions on the cerebral level. This non-progressive pathology causes disorders of motor skills and the attentional process. Some of these children do not have access to the electric wheelchair for safety reasons, as they may make dangerous steering mistakes. They do not have access to autonomy and move in manual wheelchair pushed by a third person. However, today the medical studies of the field point on the need for accession to autonomous displacement, essential for personal development, intellectual and social participation of any person, disabled or not. This thesis aims to develop an adaptable optronic system, transforming a classic electric wheelchair into a semi-autonomous wheelchair. This means that the user keeps control of the direction and speed of the chair, but that sensors can inhibit controls that prevent from falls (sidewalks, stairs, etc.) or frontal collisions. The priority is placed on a device consisting of a combination of sensors that can adapt to the different existing models of wheelchair respecting their initial size. All sensors used or designed for the intended purpose, must maintain their performance in all environments (indoor, outdoor, strong sunlight, wet tar, etc.). The total energy consumption must not exceed a few Watts. For frontal collision avoidance and door entry, we have developed a solution combining for each side of the chair a double infrared sensor and an ultrasonic sensor. The infrared sensors, developed in-house, are designed to have cylindrical protection zones, making it possible to effectively detect the passages cleared of the size of the chair and to manage the angles thanks to the double sensor. The ultrasonic sensor is designed to handle dark fine end-face obstacles that can escape infrared sensors. The control of the flatness of the floor and therefore of the anti-tip, a LiDAR triple laser beams has been developed to protect each wheel with 1 m of anticipation. The data of the various sensors will be coupled to the odometry of the chair to make decisions on orders. The sensors are designed to provide sufficient anticipation up to 3 km/h. This is a low speed, but suitable for users who in the current context are not allowed to drive.Real-life tests in various climatic situations are carried out. Solutions are sought for chaotic floors or when the user moves a lot on the chair
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Campos, Luis Felipe Castelli Correia de 1987. "Comparação entre métodos para mensuração da potência aeróbia em atletas tetraplégicos = Comparison of methods for aerobic power assessment in athletes with tetraplegia." [s.n.], 2013. http://repositorio.unicamp.br/jspui/handle/REPOSIP/275106.
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Orientador: José Irineu GorlaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Educação Física
Made available in DSpace on 2018-08-22T01:18:30Z (GMT). No. of bitstreams: 1 Campos_LuisFelipeCastelliCorreiade_M.pdf: 1327568 bytes, checksum: 617f4b2025a91d80a8713bd85628b414 (MD5) Previous issue date: 2013
Resumo: A avaliação da Potência Aeróbia em atletas com tetraplegia, como indicador de limite máximo de tolerância ao exercício aeróbio, é uma importante área de interesse no campo da performance paradesportiva. O presente estudo teve como objetivo comparar as medições direta e indireta do Consumo Pico de Oxigênio (VO2pico) no teste de campo contínuo e incremental Octagon Multi-Stage Test (OMFT) bem como, correlacionar os valores obtidos no teste contínuo e incremental no ciclo-ergometro de braço (EB). Participaram desse estudo 8 atletas tetraplégicos praticantes de Rugby em cadeira de rodas. Os atletas inicialmente realizaram a avaliação antropométrica para o cálculo do índice de massa corporal (IMC) e percentual de gordura (%G) em seguida foram submetidos ao teste de campo incremental (OMFT) com a utilização do analisador de gás portátil K4b2 Cosmed para mensuração direta do VO2pico. Após 72 horas os mesmos atletas realizaram o teste contínuo e incremental no EB para obtenção dos valores de VO2pico. Pré e pós-testes foram mensurados os valores de Frequência Cardíaca (FC), Concentração de Lactato ([Lac]), Consumo de Oxigênio (VO2) e percepção Subjetiva de Esforço (PSE). Além disso, no teste de campo (OMFT) foram coletados os dados de distância total percorrida, estágio final e número de voltas realizadas variáveis para mensuração indireta do VO2pico. Para os valores de VO2pico, observou-se que no EB os valores de média do grupo foi de 17,8±6 ml/kg/min, enquanto que para o teste OMFT foram de 21,9±5,2ml/kg/min pela mensuração direta e 24,8±3,3ml/kg/min para a mensuração através da equação de predição pré-estabelecida, a FCmax foi de 129,1±24bpm no EB e de 127,8±26bpm no OMFT. Já a PSE foi de 8,2±1,03 no EB e de 6,5±2,2 no OMFT. Através do calculo de correlação entre as mensurações de VO2pico, observou-se alta correlação (r=0.86) entre as mensuração do OMFT direta e indireta com nível de significância de p<0.05 e através do teste de Bland-Altman foi observada a concordância entre os métodos com LIC95% variando de -2,8 a 8,5. O teste OMFT apresenta validade para mensuração da Potência Aeróbia em atletas com tetraplegia, porém, observa-se a necessidade de reajustes no protocolo para que os resultados encontrados sejam de fato mais próximos à realidade dos atletas com tetraplegia, possibilitando maior controle dos resultados obtidos e a prescrição da intensidade de exercícios, evitando assim, lesões devido à sobrecarga do treinamento
Abstract: Evaluation of Aerobic Power in Spinal Cord Injury athletes as an indicator of maximum aerobic exercise tolerance is an important area of interest of sports performance. The present study aimed to compare the direct and indirect measurements of peak oxygen consumption (VO2peak) in field testing continuous and incremental Octagon Multi-Stage Test (OMFT) and to correlate the values obtained in the test continuous incremental in cycle-arm ergometer (EA). Eight athletes of the Wheelchair Rugby participated in this study. These athletes initially underwent anthropometric measurements for calculating the Body Mass Index (BMI) and percent body fat (%BF). After were submitted to field test (OMFT) with the use of portable gas analyzer K4b2 Cosmed for measurement direct of the VO2peak. After 72 hours the same athletes performed the test continuous incremental in EA to obtain the values of VO2peak. Pre and post-test values have been measured heart rate (HR), lactate concentration ([Lac]), oxygen consumption (VO2) and perceived exertion (PE). Moreover, the field test (OMFT) data were collected from total distance traveled, stage, and number of turns. Variables to measurement indirect of VO2 peak. For the VO2peak values, it was observed that the values of the EA group mean was 17.8 ± 6ml/kg/min, whereas for the test OMFT were 21.9 ± 5.2 ml/kg/min by direct measurement and 24.8 ± 3.3 ml/kg/min for measurement prediction equation by pre-established, HRmax was 129.1 ± 24bpm in EA and 127.8 ± 26bpm in OMFT. Already the PSE was 8.2±1.03 in EA and 6.5±2.2 in OMFT. By calculating the correlation between the measurements of VO2peak, there was a high correlation (r = 0.86) between the measurement of direct and indirect OMFT with a significance level of p <0.05 and by Bland-Altman concordance was observed between methods with varying LIC95% from -2.8 to 8.5. The OMFT shows validity for measuring Aerobic Power in athletes with tetraplegia; however, there is a need for adjustments in the protocol so that the results are actually closer to the reality of athletes with tetraplegia, enabling greater control of the results and prescription of exercise intensity, thus avoiding injury due to overload training
Mestrado
Atividade Fisica Adaptada
Mestre em Educação Física
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Malmberg, Roger, and Simon Hagberg. "Innovativt Drivpaket för Rullstol." Thesis, Halmstad University, School of Business and Engineering (SET), 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-1748.
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This is a thesis for a Bachelor Degree Project, performed in the subject Mechanical
Engineering. The students Roger Malmberg and Simon Hagberg have carried out a
design project on behalf of the recently established company J&D Assisting systems,
located in Halmstad.
The project consisted in developing J&D's first prototype of a power assisting solution
for wheelchairs. A power assisted wheelchair combines human power, which is delivered
by the arms through the pushrims, with electrical motors, which are powered by a battery.
The power assisted wheelchair is aimed at customers, who have used a regular
wheelchair for a long time, but who have become weaker or just need additional power
when driving uphill. This kind of wheelchair will provide additional power for users,
which will spare their wrists, elbow and shoulders. The product is torque sensor free and
instead it relies on the velocity. Engines and gearboxes from the company All motion was
a requirement. The construction could not impair the wheelchair's trafficability and the
performance would at least match up with the performance of the first prototype. To build
a working prototype was a part of the task. The work was early focused on the specific
wheelchair Etac Next. At the same time, the result should be, as much as possible,
suitable for the most common wheelchairs.
The result is a design where the engine packet is assembled in a 90° angle towards the
wheelaxle. In the angle, the power is transferred by bevel gears, assembled on shafts
supported by ball bearings. Then, the force is transmitted via a modified wheel axle to a
structure mounted outside the hub. Eight stokes transfers the force to the hand rims.
An operational prototype has been built and then been assembled on the wheelchair Etac
Next. The part mounted outside of the wheel has got a plastic hood to cover up and to
protect the inner parts. The plastic hood has been produced with SLS technology.
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Guedira, Youssef. "Contribution to the Search of Alternative Solutions for Driving Electric Wheelchairs : the Case of Tactile Interaction." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLS452.
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Le fauteuil roulant électrique constitue un moyen efficace permettant de retrouver une certaine mobilité pour de nombreuses personnes dans le monde. Malheureusement, certaines personnes en situation de handicap moteur et atteintes d’une perte de force musculaire peuvent avoir du mal à utiliser un fauteuil roulant électrique à cause de difficultés liées au maniement du joystick, dispositif usuel de pilotage du fauteuil. Cette thèse vise à proposer explorer une alternative au joystick pour des personnes atteintes de maladies neuromusculaires. Le travail de cette thèse s’intéresse plus particulièrement à l’interaction tactile. L’hypothèse est que l’interaction tactile peut offrir un pilotage fiable avec un niveau d’effort physique qui est tolérable par des personnes atteintes de maladies neuromusculaires. Dans cette perspective, nous avons développé une interface sur smartphone de pilotage de fauteuil roulant électrique qui offre de nombreuses possibilités de paramétrage permettant de la personnaliser selon le besoin de la personne. Cette interface a été conçue dans une démarche itérative centrée utilisateur. Dans chaque itération, différentes personnes souffrant d’une perte de mobilité ont pu tester l’interface de pilotage. Leurs retours alimentent les améliorations à apporter à l’interface dans l’itération d’après. Lors de la dernière itération dans le cadre de cette thèse, Une étude a été menée avec des utilisateurs atteints de maladies neuromusculaires au SSR le Brasset, avec l’aide de l’AFM Théléton. Ces participants ont pu s’approprier l’interface tactile et l’utiliser pour piloter leurs fauteuils roulants. Nous avons également comparé les performances de pilotage en utilisant l’interface tactile et le joystick dans différentes tâches quotidiennes (virage, slalom...). Les performances de ces patients avec l’interface tactile sont proches de celles du joystick. Par ailleurs, les remarques récoltées suggèrent que l’interface tactile exige moins d’effort physique que le joystickThe power wheelchair is an effective way to regain mobility for many people around the world. Unfortunately, some people with motor disabilities who also suffer from loss of muscle strength may find it difficult to use a power wheelchair. The reason is that they can experience difficulties related to the handling of a joystick, the standard wheelchair control device. This thesis aims to propose exploring an alternative to the joystick for people with neuromuscular diseases. The work of this thesis is particularly interested in tactile interaction. The hypothesis is that the tactile interaction can offer a reliable control with a level of physical effort which is tolerable by people suffering from neuromuscular diseases. In this perspective, we developed a wheelchair steering interface on smartphone. It offers many configuration possibilities allowing the customization according to the user's needs. This interface was designed in a user-centered, iterative approach. In each iteration, different people suffering from a loss of mobility were able to test the piloting interface. Their feedback feeds into improvements to the interface in the next iteration. During the last iteration as part of this thesis, a study was carried out with users suffering from neuromuscular diseases at the SSR Le Brasset, with the help of the AFM Théléton. These participants were able to take appropriate the use of the touch interface and use it to control their wheelchairs. We also compared the driving performance using the touch interface and the joystick in different daily tasks (cornering, slalom ...). The performance of these patients with the touch interface is close to that of the joystick. In addition, the comments collected suggest that the touch interface requires less physical effort than the joystick
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Kardehi, Moghaddam Athena. "Automatic detection and classification of events on power wheelchairs using embedded sensors." Thesis, McGill University, 2013. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=119653.
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Using power wheelchairs (PW) is a difficult task which needs special motor control trainings for their users. The objective of this thesis is to develop computational tools to automatically identify user driving behaviors in order to design user-specific training methods. There are many research projects on human activity recognition using wearable sensors such as accelerometers; however, PW event recognition is very rare. Moreover, for many PW applications the decision must be made with very low time complexity since accident consequences can be serious. In this thesis, we propose a machine learning framework for PW activity recognition. The framework contains three main steps: datalogging, feature extraction and event classification. In the first step, PWs are outfitted with a datalogging platform that records movement data such as acceleration. In the next step, 4 different types of features have been extracted from the preprocessed movement data and in the last step, a classifier has been trained to classify 35 different types of wheelchair activities. The classification accuracy from four different types of features has been compared: time-delay embeddings, time-domain characterization, frequency-domain features, and wavelet transforms. In a first analysis, the classification accuracy obtained when distinguishing between safe and unsafe events is compared. In a second analysis, classifcation accuracy when distinguishing between 35 different types of events is analyzed. We show that using time-delay embedding features a large proportion of activities can be detected. Specially this method, shows great performance in the detection of unsafe events.L'utilisation de fauteuils roulants motorisés (FRM) est une tâche difficile qui requiert un apprentissage moteur particulier. L'objectif de cette thèse vise à développer des outils informatiques permettant d'identifier automatiquement le profil comportemental d'un usager de manière à fournir des méthodes d'apprentissage sur-mesure. Plusieurs projets de recherche se sont penchés sur la reconnaissance d'activité humaine utilisant des capteurs portables tels que des accéléromètres; toutefois, la reconnaissance d'événements survenant sur les FRM est rare. De plus, dans la plupart des applications pour FRM les décisions de contrôle doivent être prises rapidement, sans débordement des ressource de calcul, puisque les conséquences d'un incidents peuvent être graves. Dans cette thèse, nous proposons une approche d'apprentissage machine pour la reconnaissance d'activité des FRM. Elle consiste en trois étapes principales: capture des données, extraction de caractéristiques, et classification. À la première étape, une plate-forme de capture de donnée est installée sur le FRM. Dans un second temps, quatre types de caractéristiques sont extraites à partir de données pré-traitées. Finalement, un classifieur est entraîné à distinguer 35 types d'activités pouvant survenir sur le fauteuil roulant. L'exactitude des quatre types de caractéristiques a été comparée: plongements retardés dans le temps, caractérisation dans le domaine temporel, caractérisation dans le domaine fréquentiel, et décomposition en ondelettes. Dans une première analyse, l'exactitude du classifieur à distinguer les événements sécuritaires et non-sécuritaires est comparée. Ensuite, nous nous attardons à analyser la capacité à classifier les 35 types d'événements. Nous démontrons que les plongements retardés dans le temps permettent de détecter une proportion importante des activités. De plus, cette méthode s'avère très efficace à détecter les événements non-sécuritaires.
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Devigne, Louise. "Solutions robotiques bas coût pour l’aide à la navigation en fauteuil roulant électrique : vers une contribution dans le champ de la rééducation neurologique." Thesis, Rennes, INSA, 2018. http://www.theses.fr/2018ISAR0024/document.
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Alors que l’utilisation d’un fauteuil roulant permet aux personnes en situation de handicap de compenser une perte de la mobilité, certaines personnes se voient privées de l’utilisation d’un fauteuil roulant électrique. En effet, la présence de troubles cognitifs ou de la perception visuelle altère la capacité à conduire sans danger. Dans ce contexte, l’accès à la mobilité peut être amélioré par l’apport d’aides techniques adaptées permettant de compenser la perte de mobilité dans tous types d’environnements. Alors que les premiers travaux sur les fauteuils roulants intelligents datent du début des années 80, aucune solution n’est à ce jour sur le marché ou dans les centres de rééducation. Ce travail vise à proposer un ensemble de solutions d’aide à la conduite de fauteuil roulant électrique conçu en collaboration. Le développement de telles aides techniques constitue de multiples défis robotiques mêlant techniques de détection innovantes et méthodes de contrôle partagé avec l’utilisateur. Dans ce travail, un simulateur de conduite visant à appuyer la recherche et le développement de nouvelles solutions robotiques est proposé. Puis des solutions bas coût d’assistance semiautonome à la conduite en intérieur et en extérieur sont détaillées. L’évaluation avec des participants sains nous permet de valider les méthodes mathématiques mises en oeuvre et de fournir des preuves de concept des solutions proposées. Enfin, les premières évaluations cliniques avec des usagers au Pôle MPR Saint Hélier montrent la validation de de la méthode proposée en termes de satisfaction des utilisateursWhile the use of a wheelchair allows people with disabilities to compensate for a loss of mobility, people with severe disabilities are denied the use of a power wheelchair. Indeed, cognitive or visual perception impairments can affect the ability to drive safely. In this context, access to mobility can be improved by providing appropriate assistive technologies to compensate for loss of mobility in all types of environments. While the first research on smart wheelchairs dates back to the early 1980s, no solutions have yet been proposed on the market or in rehabilitation centers and other specialized structures. This work aims to propose a set of solutions for power wheelchair navigation assistance designed in close collaboration with users and therapists. The development of such assistive solutions faces multiple robotic challenges combining innovative detection techniques, shared control with the user. In this work, a driving simulator supporting research and development of new robotic solutions for wheelchair navigation assistance is proposed. Then low-cost semi-autonomous assistance solutions for navigation assistance in indoor and outdoor environments are detailed. The evaluation with able-bodied participants allows to validate the mathematical methods and provide proof of concept of the proposed solutions. Finally, the first clinical evaluations with regular users at Pôle MPR Saint Hélier show the validation of the proposed framework in terms of user satisfaction
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Feng, Guoxi. "Aide à la mobilité des PMR : une approche basée sur les observateurs à entrée inconnue et l'apprentissage par renforcement." Thesis, Valenciennes, Université Polytechnique Hauts-de-France, 2019. http://www.theses.fr/2019UPHF0013.
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Dans les sociétés vieillissantes, l’amélioration de la mobilité des personnes handicapées est un défi majeur pour ce siècle. Avec une population âgée estimée à plus de 2 milliard d’habitants en 2050 (OMS 2012), l’hétérogénéité des handicaps devient de plus en plus importante. En outre, les appareils fonctionnels restent assez coûteux et certaines personnes handicapées ne sont pas en mesure de les acheter. Dans ce contexte, nous proposons une innovante utilisant des approches de contrôle automatique basées sur un modèle et des approches d’apprentissage par renforcement sans modèle pour notre conception de fauteuil roulant assisté. L’idée proposée vise à fournir une assistance personnalisée à un utilisateur particulier sans utiliser de capteurs coûteux, tels que des capteurs de couple. Afin de pré-évaluer la faisabilité de telles idées dans la pratique, nous effectuons deux études préliminaires.Le premier concerne une conception basée sur modèle, où nous devons exploiter au maximum les connaissances préalables du système de fauteuil roulant humain. Via un observateur et un modèle mécanique du fauteuil roulant, les fréquences et la direction de poussée humane sont reconstruites à partir des mesures de vitesse disponibles fournies par les encodeurs incrémentaux. Sur la base fréquences et de la direction de poussée reconstituées, nous estimons l’intention de l’homme et un contrôle assisté robuste basé sur un observateur a été conçu la simulation et les résultats expérimentaux sont présentés pour montrer les performances de l’algorithme d’assistance proposé basé sur un modèle. L’objectif de la première conception est d’illustrer que le besoin de capteurs de couple coûteux peut être supprimé pour une conception PAW.Une deuxième idée développée dans ce travail est de voir les capacités des techniques d’apprentissage à s’adapter à la grande hétérogénéité des comportements humains. Il en résulte une étude de validation de concept visant à adapter les comportements humain hétérogènes à l’aide d’un algorithme sans modèle. Le cas d’étude est basé sur l’essai de fournir une assistance en fonction de l’état de fatigue de l’utilisateur. Les preuves de convergence de tels algorithmes d’assistances sont également des questions importantes abordées dans cette thèse. Pour confirmer cette validation de concept, des résultats de simulation et des résultats expérimentaux sont effectués.Enfin, nous proposons des perspectives pour ces travaux et, en particulier, un cadre combinant contrôle automatique et apprentissage pour l’application PAWIn aging societies, improving the mobility of disabled persons is a key challenge for this century. With an elderly population estimated at over 2 billion in 2050 (OMS 2012), the heterogeneity of disabilities is becoming more important to address. In addition, assistive devices remain quite expensive and some disabled persons are not able to purchase such devices. In this context, we propose an innovative idea using model-based automatic control approaches and model-free reinforcement learning for a Power-Assisted wheelchair (PAW) design. The proposed idea aims to provide a personalized assistance to different user without using expensive sensors, such as torque sensors. In order to evaluate the feasibility of such ideas in practice, we carry out two preliminary designs.The first one is a model-based design, where we need to exploit as much as possible the prior knowledge on the human-wheelchair system to not use torque sensors. Via an observer and a mechanical model of the wheelchair, human pushing frequencies and direction are reconstructed from the available velocity measurements provided by incremental encoders. Based on the reconstructed pushing frequencies and direction, we estimate the human intention and a robust observer-based assistive control is designed. Both simulation and experimental results are presented to show the performance of the proposed model-based assistive algorithm. The objective of this first design is to illustrate that the need of expensive torque sensors can be removed for a PAW design.A second design developed in this work is to see the capabilities of learning techniques to adapt to the high heterogeneity of human behaviours. This design results in a proof-of-concept study that aims to adapt heterogeneous human behaviours using a model-free algorithm. The case study is based on trying to provide the assistance according to the user’s state-of-fatigue. To confirm this proof-of-concept, simulation results and experimental result are performed.Finally, we propose perspectives to these two designs and especially propose a framework to combine automatic control and reinforcement learning for the PAW application
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Giesbrecht, Edward Mark. "Comparing satisfaction with occupational performance using a pushrim-activated power-assisted wheelchair and a power wheelchair among task-specific power wheelchair users." Thesis, 2006. http://hdl.handle.net/1993/263.
Full textAbstract:
The manual wheelchair (MWC) and power wheelchair (PWC) each present advantages and disadvantages to participation and occupational performance. Consequently, some individuals choose to use both devices, depending upon the activity. A pushrim-activated, power-assisted wheelchair (PPW) may provide an alternative to the PWC for these users. This study utilized a two-phase, mixed methods design, comparing the performance and satisfaction of wheelchair users carrying out self-selected activities with their current PWC and with a PPW. There was no statistically significant difference in outcome measures between the PWC and PPW; however, many participants reported a preference for the PWC. Less accessible environments, particularly when transporting a wheelchair, were identified as opportunities for PPW use. Rather than replacing the PWC for all of their identified activities, participants indicated the PPW improved upon the MWC. As a result, participants expressed a willingness to try more (and new) activities, including some previously performed with the PWC.October 2006
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Chang, Tse-Yung, and 張澤湧. "Development of Power-Assisted Transport Wheelchair." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/73538796463201921348.
Full textAbstract:
碩士國立陽明大學
物理治療暨輔助科技學系
101
Wheelchairs are very helpful for people who have brain, nerves and degenerative disease or lower limb disorders. Among these groups, most of them can’t control wheelchairs or electric ones, as a result, they need caregivers’ help to handle them. Furthermore, because of the general type wheelchairs are unpowered, the caregivers have to overcome the long-distance walk or the rough roads, and therefore causes inconvenience or difficulty. In addition, with advances in technology, population ageing and the low birth rate is expected to lead to a burgeoning demand for aged care services. In consequence, it is important to provide power-assisted wheelchairs. The development of electric powered wheelchairs has gradually progressed, and there are many functional electric powered wheelchairs on the market. Most electric powered wheelchairs’ use is designed for disabled users themselves, and not for the caregivers’ assistance. Although some control interfaces design for caregivers, the settings of them are not suited for them. The specific aim of this study is to design a power-assisted wheelchair for caregivers. This device can be easily controlled without learning. It can be used in a variety of contexts (asphalt, grass, uphill, downhill, outdoor environment) without wearing any sensors. In this study, we detected the location of the caregiver to control the wheelchair to move forward and backward. The results showed that the distance between the caregiver and power assisted wheelchair maintained at 45-65 cm when moving forward while 60-80 cm were observed when moving backward. In addition, without the use of our device, the thrust test in a variety of contexts (asphalt, grass, uphill, downhill, outdoor environment) was significantly lower. The support test showed that the device can provide 180 to 200N support when the users were in need of help. Only by understanding the users' actual usage can we improve the actual test. In the near future, the improvement of the power-assisted wheelchair might be advantage to the caregivers.
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Lu, Chun-Hung, and 呂俊鴻. "Intelligent Voice-Control Power Wheelchair System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/62318715199506976930.
Full textAbstract:
碩士德明財經科技大學
資訊管理系
102
Nowadays, the population of the elderly grows fast in Taiwan. The power wheelchair thus becomes necessary equipment for the elderly. Because of the illness and weakness, some of the elderly have difficulty to control the wheelchair by hand. Besides the elderly, some of the disabled need the power wheelchair to move around in their daily lives. Therefore, a power wheelchair system with voice-controlled function is proposed in this thesis to help those who have problem to control the power wheelchair by hand instead of controlling the power wheel chair by voice commands sent from microphone via Bluetooth system. The voice-controlled model not only uses voice to control power wheelchair direction, but also can integrate with automatic navigation model to go right spot by setting path previouly. Moreover, the system provides button control model and gyro control model which can be provided for anyone to control power wheelchair. The Wi-Fi wireless network system and Android system based smartphones are another two major parts of the proposed scheme. The automatic alert system has been also developed to call for help and GPS position by the smartphone when any dangerous situation occurred. The proposed control system can help the elder users of the power wheelchair to have a better quality of life.
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Tsai, Yue-Ruen, and 蔡岳潤. "Power Assisted System Controller Design for Wheelchair." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/5d39aq.
Full textAbstract:
碩士國立屏東科技大學
車輛工程系所
106
Power-assisted wheelchair (PAWC) is a power-assisted system installed on a manual wheelchair. It provides a calculated adequate auxiliary force to the wheelchair according to thrust value from the driver, so that users with poor strength can autonomously move to any road conditions such as slope and terrain. Since the user is usually an inconvenient or inferior elder, the performance indices of the system are stability, agility, safety and comfort to use, which must be achieved by properly integrating mechanical design and control techniques. The R&D team of Pingtung University of science and technology has completed a power-assisted mechanism, which has the advantages of quick installation, driving stability and agility. The mechanism is mounted on rear chassis of the wheelchair and is powered by a 24V 250W hub motor equipped with a 24V6.4Ah battery. This study is mainly focused on developing the control system and auxiliary force control technology for the power-assisted system. Issues include road slope estimate, driver’s thrust input estimation, and optimal auxiliary force design. The road slope estimation applies the method of Kalman filter combined with the complementary filter. With the real-time estimate of the road grade, an external force observer is designed to estimate the user's thrust input, then the load due to slope, the user's thrust input, the wheel speed, and the steering state of the wheelchair are taken into consideration to obtain a best auxiliary force, The power output of the auxiliary motor is controlled by closed current control loop to provide the user with an immediate, comfortable, and smooth operation. The work of this research can be divided into three parts: algorithm design, experimental system design and establishment, and finally performance verification and parameter calibration. Several tests have been conducted on various road conditions such as indoor narrow spaces drive, outdoor uphill, and running through bumps, etc. The test results showed the assistance force can quickly respond to user’s thrust input, and after the thrust is released, the assistance force can be gently lowered to move a short distance. Any uncomfortable force and misjudgment were not found to exist under the interference of the road irregular surfaces and obstacles. For the estimate of road slope, the test results showed that, on the road condition from level to 5 degrees uphill, the estimated slope smoothly converges to a steady state value within 3 seconds, with the steady-state error of less than 3.4% (the estimated average is 4.83 degrees). The steady-state error of the estimated thrust value was less than 11.25%, when on level road drive without the assistance power activated. For the case of power activated, the steady-state error of the estimated external force was less than 7.07%. In terms of overall performance, under the full load of 100kg and the use of 24V6.4Ah battery, the indoor driving range is averaged about 16km. For the effect of power assistance, the running distance per push action is about an average of 5 m under power assistance, which is 150% of the unassisted running distance of 2 m. When the auxiliary force is provided, all the values of acceleration are well controlled to less than 0.3m/s2, which conforms to the comfortable requirement of ISO2631-1 standard.
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Huang, Keng-Chu, and 黃庚取. "Development of the Power Wheelchair Motor Controller." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/59989822606539177223.
Full textAbstract:
碩士國立中興大學
電機工程學系
90
Abstract This thesis develops mainly the control system of the electrical wheelchair including the driver circuit and the controller. The system is based on the simulation to design the wheelchair’s motor dynamic model. The simulation uses the PI control, the VSC and the integration of the both which is made into the inner-outer-loop control. Whereas the PI control is the outer loop and the VSC is the inner loop. The final simulation is to use the speed sensorless strategy, which uses the current and the voltage as a feedback signal to estimate the speed then evaluate its feasibility. The controller is based on the PIC16F873-microcontroller.The user’s interface of the electrical wheelchair uses a traditional analog joystick. Because the wheelchair’s motor needs bidirectional rotation, it needs to use the full-bridge circuit. Pulse-width modulation (PWM) method changes the speed of the motor. The direction of the electrical wheelchair can be changed from the joystick and the speed can be changed from the voltage of the resistance. This thesis uses the software and the hardware to implement the controller of the basic electrical wheelchair. Through the experiments and the simulation, we can know that the electrical wheelchair can achieve the basic behaviors of going forward, backward, left and right. This machine can be used as the foundation for the future development.
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Hsu, Ching-Yuan, and 許景淵. "Power Module of Electrical Wheelchair With Electrical Differential." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/23145713765412161871.
Full textAbstract:
碩士國立臺灣大學
機械工程學系
85
This research develops an electrical differential for electrical wheelchairs with two motors instead of mechanical differential. The steering function is achieved by the control of differential speed between two motors, whose comm- ands are generated by a simplified differential formula. A digital full- bridge PWM (Pulse Width Modulation) motor driver and a single board controller with the PI control law is designed and implemented with the motorized wheelchair. The performance of the electrical wheelchair is tested successfully with simu- lations and experiments.
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Xu, Ying-Yuan, and 許景淵. "Power Module of Electrical Wheelchair With Electrical Differential." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/31886797834190049613.
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Conger, Scott Alexander. "Physical Activity Assessment in Wheelchair Users." 2011. http://trace.tennessee.edu/utk_graddiss/1069.
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Purpose: To examine the relationship between hand rim propulsion power and energy expenditure during wheelchair locomotion. Methods: Fourteen individuals who used manual wheelchairs were included in this study. Each participant performed five different locomotion activities in a wheelchair with a PowerTap hub built into the rear wheel. The activities included wheeling on a level surface that elicited a low rolling resistance at three different speeds (4.5, 5.5, and 6.5 km∙hr-1), wheeling on a rubberized 400m track that elicited a higher rolling resistance at one speed (5.5 km∙hr-1), and wheeling on a sidewalk course that included uphill and downhill segments at their self-selected speed. Energy expenditure was measured using a portable indirect calorimetry system. In addition, each subject wore an Actical and a SenseWear activity monitor on the right wrist and upper arm, respectively. Stepwise, linear regression was performed to predict energy expenditure from power output variables. A repeated measures ANOVA was used to compare the measured energy expenditure to the estimates from the power models, the Actical, and the SenseWear. Bland-Altman plots were used to assess the agreement between the criterion values and the predicted values. Results: The relationship between energy expenditure and power was significantly correlated (r = 0.694, p < 0.001). Stepwise, linear regression analysis yielded three significant prediction models utilizing measured power; measured power and speed; and measured power, speed, and heart rate. A repeated measures ANOVA demonstrated a significant main effect between measured energy expenditure and estimated energy expenditure (p < 0.01). There were no significant differences between the criterion method and the power models or the Actical. The SenseWear significantly overestimated energy expenditure when wheeling at 4.5 km·hr-1, 5.5 km·hr-1, 6.5 km·hr-1, and during self-paced sidewalk wheeling (p < 0.05). Conclusion: Energy expenditure can be accurately and precisely estimated based on wheelchair propulsion power. These results indicate that wheelchair power could be used as a method to assess physical activity in people who use wheelchairs.
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黃忠仁. "A New Power Wheelchair with Multiple Input Command Sources." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/87369947373274405508.
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Lee, Yuch-Ying, and 李岳穎. "Design of Chasis Mechanism for Six-wheel Power Wheelchair." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/19895038133865075177.
Full textAbstract:
碩士國立中山大學
機械與機電工程學系研究所
93
Wheelchair is for those who cannot walk independently and need assistances in moving around. Six-wheel Power Wheelchair has great functions, such as large sphere of actions, no movement injuries, great stability, and small radius of gyration. The purpose of this paper is to apply the idea of engineering design method and offer a design theory for chassis mechanism for Six-Wheel Power Wheelchair. Firstly, the evolution of chassis mechanism for wheelchair is discussed and the existing chassis mechanism for wheelchair is analyzed. Based on the knowledge, this paper concludes the fundamental functions and structural characteristics of chassis mechanism for power wheelchair and lists the design requirements. Secondly, applying the creative mechanism design procedures, a new design for chassis mechanism and the Kinematic design for six-wheel power wheelchair are proposed and computerized Finally, using CAE software stimulating the designs, the paper presents the three-dimension graph and prototype of the designs.
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Lin, Ze-Chen, and 林則辰. "Design and Analysis of Power Assisted System for Wheelchair." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/97t5rq.
Full textAbstract:
碩士國立屏東科技大學
車輛工程系所
105
This thesis is aimed at development of a power assisted system for manual wheelchairs. The system is designed to provide an appropriate auxiliary thrust to the manual wheelchair under all operation conditions. This is to make the wheelchair more convenient for use under various loads. The main idea is to designed a rear fifth wheel to provide assistant power. Here, a 24V350W wheel hub motor is used as the as the power source. The goals for the system design are: simple, low-cost, reliable, and easy mounted without changing the original architecture. To make the users feel power predictable, comfortable, and ensure safety, the performance objectives of the designed system are straightforward stability and steering flexibility of the wheelchair. In order to achieve the above objectives, the works include power assistant mechanism design, vehicle stability analysis, dynamic simulation using ADAMS, power assistant control strategy design, and experimental verifications. After all the design and analysis works mentioned above have been completed, control algorithm was designed. To simplified the system as well as the cost, this study only uses velocity and current signals to control the value of assistant power. These signals are used to estimate acceleration and the associated load and manual force provided by the user. The feasibility of the design and control strategy of the proposed system has been verified experimentally. Keywords: Wheelchair, Power-Assistant System, Kalman Filter.
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Chen, Hung-Chan, and 陳泓展. "Research and Development of a Power Assisted Pedaling Hemiplegics Wheelchair." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/87369408528419072552.
Full textAbstract:
碩士南台科技大學
機械工程系
96
Most medical assistive devices on the market can’t meet the needs for the hemiplegics who have trouble to move with a single hand and a single leg. This research aims at designing power assisted pedaling wheelchair, so we take the users’ physical features, manipulation capabilities and living needs into consideration to make its design specification. Our goal is to make a wheelchair with direct operation, precise motion, confortable drive, and labor saving to avoid strain-induced injuries. There are four systems in the wheelchair: driving system, turning system, power assisting moving, and transmission system. The user maneuvers the moving direction with one hand and push the lever to drive the wheelchair with one leg. The power assisting system is used to provide assisting power based on the detected pedaling torque. And the transmission system is capable of forward, neutral, and reverse to satisfy different needs. A prototype power assisted pedaling wheelchair is made in this research. It provides mobility solutions for the hemiplegics. Moreover, it helps the users in rehabilitation or even strengthen their cardiopulmonary function so it can help the users’ independence and promote their life quality!
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Chao, Li-Feng, and 趙立峰. "Muscle Activation Patterns of Forearm during Driving a Power Wheelchair." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/63704072128157745449.
Full textAbstract:
碩士亞洲大學
創意商品設計學系
104
Power wheelchairs is available for cerebral palsy children to moving quickly reach the desired destination. Cerebral palsy children can not smooth control the wheelchair that due to the abnormal involuntary spasms and tension. The purpose of this study was used electromyographic (EMG) to assess the muscle activation patterns during driving the power wheelchair. We recruited a healthy individual in this evaluating examination. The evaluating examination were divided into a control group and the experimental group. As the control group, the subject was required to forward movement by controlling the wheelchair joystick; as the experimental group, the subject was required to backward movement, left turning, and right turning, respectively. The surface EMG was used to record the contraction of three right upper limbs muscles, including extensor carpi ulnaris (ECU), flexor carpi ulnaris (FCU), and flexor carpi radialis FCR). The results showed that the three right upper limb muscles profile a different activation patterns during driving a power wheelchair. The findings imply that the muscle sequence pattern can be used to profile the joystick control strategy in power wheelchairs.
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Ou-Yang, Yao, and 歐陽瑤. "Development of M3S-Based Power Wheelchair Controller and Safety Feedback System." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/02575894694597716026.
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碩士國立臺灣大學
電機工程學研究所
93
The purpose of this study is to develop a safety feedback control system of a power wheelchair for the improvement of self-reliance in personal ambulation and the reduction of system errors due to operational faults. The core processor is a Texas Instrument TMS320LF2407A DSP (digital signal processor). The DSP reads the signal received from the joystick and carries out computations for the control of driving motors, both in direction and speed. An ultrasound module is used for the detection of obstacles in the rear side for safety. Optical encoders generate feedback signals in order to compensate the speed of the two motors by a PD control algorithm, which makes the speed of the power wheelchair independent of the weight load. This system is designed according to M3S (Multiple Master Multiple Slave) standards for a straightforward integration of additional modules and better expansion of a power wheelchair system.
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Wang, Kuang-Ching, and 王廣經. "Functional Electrical Stimulation System Design for a Power-assisted Pedaling Wheelchair." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/30758219210849419689.
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碩士國立臺灣大學
電機工程學研究所
87
A power-assisted pedaling wheelchair using functional electrical stimulation (FES) was proposed in this research to offer prolonged mobility for paralyzed patients and to achieve rehabilitation purposes. To design suitable stimulation patterns, an FES pedaling model was proposed in the thesis. The pedaling model was composed of a muscular subsystem and a skeletal subsystem. The muscular subsystem accepts stimulation input and generates force output according to the experimentally obtained isometric recruitment curve. The generated forces then produce moments to drive the skeletal subsystem and result in a pedaling movement. The stimulation timing was designed in connection to the activation timing of normal subjects’ electromyography (EMG). Stimulation patterns were suggested based on acquired EMG activation timing, and stimulated pedaling experiments were conducted to verify such patterns. The muscular model helped to establish a closed-loop FES pedaling control and simulation structure. The isometric quadriceps recruitment of one able-bodied subject was measured to reveal the dynamic range of muscle recruitment with pulse amplitude modulation. The measurements were taken on stimulated right quadriceps by a Cybex NORMTM torque meter. The results indicated able-bodied subjects had a maximum knee joint torque around 40 Ft-Lbs, which saturated at 90 mA of stimulation. The quadriceps and hamstrings surface EMG’s of three able-bodied subjects pedaling at 40, 50, and 60 RPM were analyzed. A consistent advancing trend of activation was seen when pedaling rate increased. With respect to individual maximum flexion (MF) positions, the activation ranges of three subjects were consistently matched. Two stimulation durations were suggested by averaging the durations of quadriceps activation at 40 and 60 RPM. Same pedaling experiments were repeated under three load levels. Delays in quadriceps activation and advances in hamstrings’ were seen while load increased. The amplitudes of integrated EMG (iEMG) increased along with both pedaling rates and loads. A closed-loop stimulated pedaling experiment was conducted with two able-bodied patients. Both suggested quadriceps stimulation ranges were implemented in reference to individual subject’s maximum flexion positions. A proportional and integral (PI) controller was adopted to achieve constant pedaling rate. Results indicated the suggested stimulation patterns achieved constant rate pedaling. A comparison of the stimulation efficiency between the two suggested patterns was reported. The results showed that the 40-RPM pattern was more efficient when pedaling at 40 RPM. Similarly, the 60-RPM pattern was more efficient when pedaling at 60 RPM. The experiment results also offered required activation timing information in the FES pedaling model simulation.
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Hsu, Fan-Chiu, and 徐凡丘. "Image Recognition Applications on the Object Tracking Control of Power Wheelchair." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/5p2g5x.
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碩士國立臺北科技大學
自動化科技研究所
101
In this thesis, a smart powered wheelchair which combines visual system, intelligent controller and human machine interface is implemented. At first, a target-tracking and control approach based on sliding mode control is proposed. The proposed image processing algorithm can search the object point, and detect the relative location between the wheelchair and the target spot via the parameters which are measured by supersonic wave sensory element and electric compass. Moreover, based on sliding mode control, the trajectory can be calculated and the wheelchair can also reach the target spot via the obtained trajectory. Besides, utilizing the fuzzy clustering algorithm the human face can be detected and the center line on the face can be obtained. Through the slope of the center line, the wheelchair can be controlled directly via the face swing. Lastly, the experimental result shows that the proposed mechanism and the approach are effective and feasible.
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Lin, Cheng-Han, and 林政翰. "The Power Wheelchair Eyes Detection and Control Based on Embedded System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/a467t7.
Full textAbstract:
碩士國立臺北科技大學
自動化科技研究所
102
Based on Raspberry Pi embedded platform and camera module, a real-time eyes detection control system for power wheelchair is implemented in this thesis. By utilizing the primal hardware of Raspberry Pi, the eyes feature and position can be recognized from the captured image to control the direction of wheelchair. In addition, Haar-like feature recognition algorithm is adopted in this system to detect the position of the eyes. Since the Scale-invariant feature transformation or skin color recognition is not taken into consideration, the burden of embedded platform can be decreased significantly. In addition, this system utilizes histogram equalization in the pre-processing part; therefore, the affections are reduced for insufficient light and different brightness environments. Lastly, the experiment results show the effectiveness and validity of the developed eye detection control system and the proposed control approach.
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HUANG, SIH-HAN, and 黃思翰. "Rehabilitaion of the hands and feet for a Power-Assisted Wheelchair." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/ndj59h.
Full textAbstract:
碩士南臺科技大學
機械工程系
104
Abstract As the improvement in medicine, promotes the human life, the world becomes to an aging society gradually, and also increases the demand of wheelchair. In addition, the long-term use of manual wheelchairs could easily lead to hand injuries, more oxygen consumption and higher heart rate, while the long-term use of electric wheelchair could reduces the cardiopulmonary function due to a lack of hand movement. Therefore, a power-assisted wheelchair with two hub motors as the actuators is proposed, which has the advantages of portability and less operating efforts. Finally, three different users to make hands and feet and hands power-assisted experiments rehabilitation experiment in terms of hands and feet power-assisted experiments were pushing with both hands, one hand push, push hands feet kicking, kicking one leg with one hand push experiment right hand thrust force or kick left foot, left and right wheel reference speed, left and right wheels and the left and right wheels voltage control signal current consumption, from the experimental results shown in Fig prove different users will get different operating power assist, in the hands and feet experimental aspects of rehabilitation to three user's hand pushing wheelchairs and rehabilitation agencies kicking leg, seen from the experimental results in Fig., the user pushes the push frequency and speed of the wheelchair, often kicking leg kick and rehabilitation institutions pendulum speed. Keywords: Hands and feet Rehabilitation,Power-Assisted Wheelchair, Torque bserver, Lyapunov's Theory.
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Huang, Wei Pin, and 黃維彬. "Virtual Reality Application for Power Wheelchair Indoor Driving Assessment and Training." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/tj9kuk.
Full textAbstract:
博士長庚大學
物理治療學系
105
Powered wheelchairs (PW) provide the mobility and improve the independence of the people with physical disabilities. However, lack of control skills of power wheelchair could cause damages and physical injuries in an indoor environment. Therefore, driving skill training of PW for the safety and effectiveness in novice users is a critical issue. Joysticks are the interface most used for controlling PW and an indoor environment is the major environment for the PW users. Therefore, safely controlling joystick in the indoor environment is an important consideration for the PW training. Virtual reality (VR) is a current technology used to simulate an environment enabling people to practice the driving skills without actual injury so as could be a method for power wheelchair driving training. However, 2D VR is fictitious and could not simulate the real conditions of power wheelchair driving. Therefore, the purposes of this study were: (1) to investigate the effect of joystick-controlled commercial video games on the capability to control of PWs in an indoor environment, (2) to construct an 3D VR indoor environment (My Home, MH) for PWs driving training, (3) to investigate the training effect of a VR environment (MH) on PW driving skills. Twenty healthy young adults without the experience of driving PWs were recruited to participate in joystick-controlled commercial video games. The results showed that the completion time and driving track deviation were significantly decreased. After constructing a geometry-based 3D VR indoor environment. Furthermore, A randomized control study was conducted to determine if HM had effects on the driving performance of PW in the indoor environment. As a result, the track deviation, completion time, and collisions significantly decreased when the participants were assessed. However, the changes between before and after training sessions cross two groups did not show a significant difference. Therefore, 3D VR based MH game could be feasible for the beginners of PW driving training and provide a safe way to avoid collision within the indoor environments.
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Pien, Cheng-Yang, and 卞政揚. "The design of the sensing system of the power assisted wheelchair." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/92624248829321099950.
Full textAbstract:
碩士南台科技大學
機械工程系
99
The sensing system of the power-assisted wheelchair is a wheelchair through the user operation of the movement, sensing the strength and the direction, will be transformed into direct power source signal and provide power to wheelchairs to help drive the device. After analysis of existing patents related to power-assisted wheelchair, we can find the main research of the power-assisted wheelchair that needs to solve the problem of the wire around, and almost of the design of the case showing a lack of reliability. This results from the sensing mechanism design for a set of institutions with reliability, and to assess the design of the selection design of the sensing element. The design of a new body may be formed by the analysis of the characteristics of a wheelchair, were hand-wheel, big wheel and the sensor output, then refer to two degrees of freedom of the body, and then through the motion design, got the input angle and then get the output position, Finally, the detailed design for the needs of each link, and the members of the dimensions and parameters of the parts designed, so that can produce the normal operation of the prototype machine. Therefore, this thesis is the design of sensing system of the power-assisted wheelchair, the use of the patent search, analysis of 10 U.S. patents and 4 patents Republic of China, after the results of patent analysis, define the problem of the sensing system with the sensing body and sensing components. Production prototype machine by conceptual design, detailed calculation of the required size of detail design by the basic formula for gear, and draw results graphics done by a computer model , output a concept design and computer models to help move the same time and make sense wheelchair system prototype machine, finally, the prototype machine will complete, then test of progress and record the results, the design of future follow-up to power-assisted wheelchair can be used as reference.
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Yeh, Chih-Wei, and 葉治緯. "System Integration and Control of Smart Wheelchair Driven by Dual Power Wheels." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/ve3jhc.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
106
The aim of this research is to develop a comprehensive control system and assist the control strategy of the rim motor electric wheelchair. The purpose is to electrically control all the regular wheelchair by installing two electricity wheel modules and control boxes. This study first introduces the design concept of the dynamic system of the electric wheelchair. This includes the rim motor, BLDC driver, mechanical breaking’s mechanism and controller, and they are integrated into the power wheel module. By using Space Vector PWM module, motor vibration can be reduced and the stability and efficiency of the electrical wheelchair can be improved. Furthermore, the assist control strategy in this research makes the rim motor electric wheelchair much more user-friendly and convenient. The control system of rim motor electric wheelchair consists of two systems, which are the main control system and the assisted control system. The main control system comprises of the upper and the under controller. The upper controller provides operable user interface, Bluetooth connection, optimal cross-coupling control, and closed loop speed control. The upper controller also transfers current command to under controller. The user-friendly interface enables wheelchair users to intuitively control and acquire the status of the electronic wheelchair. The under controller drives rim motor stably and safely by using Space Vector PWM module, controlling electrical breaking and mechanical breaking。 Assisted control system can connect to smart phones via Bluetooth connection, and this allows the user to remotely control the electric wheelchair at a close distance. Assisted control system comprises of two parts, which are the remoting system of the electric wheelchair and the wheelchair tracking system. The remoting system enables users to remotely control the electric wheelchair with smart phone application and drive it wherever they want. The track learning system can record previously taken paths allowing the electric wheelchair to automatically follow the recorded paths. This study also describes an experimental comparison of the Space Vector PWM module and the six-step square wave driving module. From this comparison, it is found that the six-step square wave can essentially increase the efficiency while the Space Vector PWM cannot. Therefore, the Space Vector PWM module is not suitable for the rim motor. The rim motor in this case is a low-rotation-speed, high-torque BLDC motor. Also, the remoting system and the track learning system in the assisted control system allows the electric wheelchair to be driven stably and provides a more user-friendly interface for the driver. Keywords: power wheel, rim motor, electric wheelchair, assistance system, Brushless DC motor (BLDC), BLDC driver, linear hall sensor, electrical braking, closed-loop speed control, track learning, tracking system, Bluetooth.
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Hsueh-Wei, Yao, and 姚學維. "Research and Development of Single Pedal Activated Power Assisted Wheelchair for Hemiplegia." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/60092532938173255523.
Full textAbstract:
碩士南台科技大學
機械工程系
97
Abstract This study develops a Single Pedal Activated Power Assisted Wheelchair (SPAPAW) for hemiplegia whose body functions are considered in the process of product development and engineering design. This design has a steering handle, a set of propelling mechanism, a power-assisted system, and a gear box installed on the patient’s normal side, so the patient can steer it with the normal hand, and reciprocatively pedal the propelling rod to drive the wheelchair with the normal leg. Moreover, the power-assisted system may detect insufficient exerted effort and provide additional torque needed for driving the wheelchair. Also, there are forward, reverse and neutral shifts in the gear box to cope with different conditions. Our design has the advantages of intuitive steering, precise movement, local rotation, and labor-saving driving system without causing strain-induced injury. Hence, it is an ideal assistive device for hemiplegia. It provides the hemiplegia not only with a sound solution to the mobility problem, but with a rehabilitating tool to strengthen the patient’s cardiopulmonary function. It is desired that the patients may live more independently and have a better life quality.
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Liu, Bang-Yuan, and 劉邦元. "Force Sensorless Power Assist Control of Powered Wheelchair Driven by Rim Motor." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/gccz53.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
107
The main objective of this research is to establish the power assist system for the proto-type powered wheelchair driven by rim motor. The main issue can be divided into two parts: improvement on accuracy of torque control in low speed region and design of power assist control sysytem. To achieve precise torque control, it is necessary to know accurate rotor position. However, the digital Hall-effect sensor used in the past research has a low resolution, which is difficult to meet the requirement. In addition, since the wheelchair is often operated in the low speed region, the speed estimated by the digital sensor will also contain large phase lag, which would reduce the bandwidth of the speed control loop. High-resolution encoders are generally used to deal with the above problems, but considering the higher cost, this paper proposes to use cheap linear Hall-effect sensors as a solution. In this application, because of the shape of the magnet using by the rim motor, the sensor signal contained large harmonic components and cannot be directly used for measurement, this paper proposes a specialized observer based on phase-locked loop, which includes adaptive filtering section. It can suppress the main harmonic components in the signal and achieve a more stable estimation. In regard to the power assisted control, this paper uses the disturbance observer instead of force sensors to estimate the human torque input, then through the technique of impedance control, the user could feel the appropriate impedance characteristics during the propulsion of the wheelchair. The objectives of the power assist control can be divided into two part: reduce the torque that the user must apply and extend the moving distance of the wheelchair. To achieve these goals, the powered wheel must have different impedance characteristic to the external torque disturbance. An identification algorithm is designed to determine whether the user is pushing the wheelchair, and accordingly determines the switching of the two impedance modes. The method of this paper is verified by simulation and its performance is proved by experiments.
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Wang, Rosalie Hsueh Ling. "Enabling Power Wheelchair Mobility with Long-term Care Home Residents with Cognitive Impairments." Thesis, 2011. http://hdl.handle.net/1807/29906.
Full textAbstract:
For older adults, functional independent mobility is essential to well-being. Many care home residents have physical and cognitive impairments and use wheelchairs. Residents with difficulty self-propelling manual wheelchairs may benefit from power mobility; however, those with cognitive impairments may be precluded because of the potential for injury. My research goals were to apply novel power wheelchair technology to enable safe, independent mobility. Technology was developed to examine the value and implications of power mobility for residents with restricted mobility and mild or moderate cognitive impairments.
The first study tested a prototype anti-collision wheelchair with a contact sensor skirt. Six single subject studies were completed. Distances travelled in manual and anti-collision wheelchairs were compared. Observational and interview data were collected. Focus groups (37 staff) and interviews (18 staff, six other residents, one spouse) were performed. Three of six residents were able or had potential to operate the prototype. One resident chose to use it beyond the study, and his mobility and well-being improved. Case analyses showed factors limiting prototype acceptance. Residents were unsatisfied with the appearance and slow speed, and found the interface frustrating to operate because of inadequate feedback. Social isolation and reduced autonomy restricted independence achievable with technology. Socialization and affective benefits of mobility were demonstrated in one case where prototype use was continually assisted. Residents and staff supported the anti-collision concept. On observation, the prototype compensated for absent or delayed responses of residents to obstacles below sensors and decreased injury risk. However, full sensor coverage of the environment was needed.
The second study addressed acceptance and interface usability issues. A simulated collision-avoidance wheelchair with a multimodal feedback interface was evaluated. The interface provided audio, visual and haptic feedback to guide navigation away from obstacles. Through observations, interviews and questionnaires, five residents evaluated the device. High device acceptance and usability were found. The device was easy to use and assisted with performance of indoor mobility goals. Further research is necessary before power wheelchairs with new features are available for users; however, these results could play a fundamental role in shaping technology development and mobility interventions for this neglected population.
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Ho, Shao-Peng, and 何少朋. "The Function Test and Improvement of the Driving Module on Power Wheelchair /Scooter." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/02678747445860509346.
Full textAbstract:
碩士國立交通大學
工學院碩士在職專班精密與自動化工程組
97
The study focus on the component optimal design an experimental device reconstruction for the parameter identification and function improvement of the driving module of the power Wheelchair/Scooter. There are several critical parameters of the driving module ,such as driving torque，wheel diameter etc. Since that the getting more serious policy issued by SADMERC about the step level of climbing function for the import Wheelchair/Scooter. The performance of the motor`s driving torque which is function of electrical current，angular velocity etc., is most concerned in the study. For identifying the parameters relating to the dynamic performance of the driving motor，we reorganized the function of Two Drum Tester to be able to measure and investigate the characteristic curves of rerated parameters. Many of the characteristic curves and data provide practical and valuable information helping the motor and controller design group to redefine the more reasonable and economical operating data. The characteristic data and curves generated from the experimental projects of this study have successfully helped export-based wheelchair manufacturer to create or enlarge the commercial market share. The Taguchi method was applied in the study for arranging and planning the experimental processes and preparing for critical parameters identification. The FEA software “ANSYS” was also adopted for analyzing the stress distribution of new designed seat plate model. And thus, the seat plate with less weight and higher strength can be developed. Both of the adopted methods play a big assistance for the evacuation of improving project for a more competitive product of Wheelchair/Scooter with the better combination of the driving module and components. The proposed method and experimental device can be transformed to be applied for the other related design model.
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Lin, Ming-chieh, and 林明潔. "Application of Decision-tree Technique in Assessing Power Wheelchair for People with Disabilities." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/65107726207011353710.
Full textAbstract:
碩士國立臺灣科技大學
工業管理系
100
According to the statistical report in Dec. 2012 by Department of Statistics, Ministry of the Interior, Taiwan, majority are the people with physical disability with a percentage of thirty-five. Some mobility impaired disable people can move about and complete functional task via power wheelchair. There are vast variety of power wheelchairs in structure and function which available the market, thus users in great need of professional assessment to avoid improper use causing harmful accident and abandonment of mobility devices of body deformity. Physical and occupational therapists does not encounter assistive technology training until work force. They acquire tacit assistive technology assessment decision making through experience and trial and error. This study transform tacit to explicit knowledge and establish power wheelchair assessment decision making principles. Decision tree is one of common classification methods, it is simple, clear and easy to use. This study divide power wheelchair into five categories, (1)Power base (2)Human machine interface (3)Tilt and Recline system(4)Standing and Elevating system(5)Seating system, and using leaf and node to classify and code to develop five decision trees. Furthermore, test decision tree feasibility using power wheelchair data from physical impaired high school and university students (Ministry of Education). The five decision trees are established to assist therapists in finding the fittest power wheelchair for people with physical disability.
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Hsu, Cheng-Han, and 許丞瀚. "Mechatronic Design and Integration of a Powered Wheelchair Driven by Dual Power Wheels." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/37532612869461472284.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
105
This research intends to improve the running of the dual power wheel system developed by the previous generation, and integrates it with the wheelchair design and improvement for market-oriented production. The historical and technological backgrounds of the powered wheelchair is reviewed, and the structure of rim motors and the modifications of motor mechanism are illustrated. The inconsistancy between motor operation and simulation is improved in this study. In this thesis the integrated design of the whole wheel frame and motor is proposed and implemented. The ring motor originally installed in the wheel is used to have shape correction in order to make the ring motor and wheel frame forming. In addition, the motor has a better protection from dusk and moisture. The brakes of a new release mechanism facilitating the user to switch between manual and electric modes are also designed. The main purpose of this design on rim motor electric wheelchairs is to fit the real requirement of commercialization.
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Hsu, Shih-Li, and 徐士理. "The implementation of controlling power wheelchair and manipulator arm by usingan eye tracker." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/82576100392130775271.
Full textAbstract:
碩士中原大學
電機工程研究所
105
Power wheelchairs are the important tool for transportation of the physically challenged people. Most of the power wheelchairs in the market are operated by a joystick. However, people who suffer from limb dysfunction may not be able to use this tool properly. This thesis aims to develop a system that using eyes motion and head postures to operate not only a power wheelchair but also a manipulator arm which is mounted on the power wheelchair. In detail, an eye tracker is used to obtain the gaze data and eye motion of the user, while the data is analyzed by the software and transferred to operational instructions. The user can change the moving direction of the power wheelchair, while the manipulator arm can grab an object for people. Overall, the robot-arm wheelchair is a used assistant tool for disable people.
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Chuan-ChiHsiao and 蕭傳錡. "Image Object Tracking with LiDAR Obstacle Avoidance System of Interactive Electrical Power Wheelchair." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/65846136564611735779.
Full textAbstract:
碩士國立成功大學
電機工程學系
104
There are a lot of mature mobile assistive devices for increasing amount of elderlies and people with disabilities. But for highly disabled people, these mobile assistive devices have relatively high threshold for them. For those patients with the lack of ability, neither traditional joystick-controlling wheelchairs nor wheelchairs with sound control can’t offer a suitable environment for highly disabled people. As a result, this decrease the chance for outside activities and interactions with families for them, so caregivers are highly relied for them. So, a system combining image object tracking and the LiDAR obstacle avoidance is proposed. This system can be used in household environment to enhance the condition of interacting with families. Also, it is suitable for going outside with a smart electrical power wheelchair away from the home. In this research, a system composed of embedded systems, an Android Tablet, a Light Detection and Ranging, and cameras with 180 degree fisheye lens is constructed. This system is suitable for image-tracking small tracked cars and can be migrated on the electrical power wheelchairs for outside activities. Using cameras with 180 degree fisheye lens can increase the field of view, and it’s helpful for people with high disabilities and low sensitivities. This project use a tablet PC which is available everywhere as the user interface, the Android APP on it display the whole required information while driving. For the division of work, two embedded system microcontrollers are responsible for different tasks respectively. The Raspberry Pi is in charge of image processing with a large amount of data calculation. On the other hand, the STM32F4-Discovery discovery kit execute the data transmission to the tablet PC through Bluetooth, LiDAR data receiving, and the motor control. UART is used to communicate between two microcontrollers. This research uses the Continuously Adaptive Mean-Shift as the method of image object tracking. CAMShift has good efficiency and precision, and it widely used in image tracking. By doing Mean-Shift continuously and adaptively, it calculates out the best position according to the target color feature and its histogram. The motor control algorithm have been aimed at in wheelchair researches over the past years, and there are few wheelchair systems in connection to image recognition. This research adds the LiDAR sensor which is popular in the field of self-driving car to achieve the purpose of interacting safely. Via the mode selected by users on the Android APP, it can be divided in the object tracking mode and the manually control mode. The object tracking mode tracks the objects with a certain color according to the color users choose. The results returned from the Raspberry Pi are passed to the STM32F4-Discovery discovery kit and then move the small tracked car toward the target and maintain the safety distance. The experimental results shows that the positions CAMShift calculated are projected to actual position from camera image position through the calibration transform of fisheye lens camera. It successfully targets the best position of objects with specific color. By the assistance of LiDAR, the distance of safety is considered to reach the stability and the driving safety. This research combines the techniques of self-driving, and the integrated science assistive system consisting of low power and low-cost sensors and embedded systems is designed. This system can be used in household communication and also be expanded to electrical power wheelchair to do social activities. The enhanced interaction with families and caregivers is expected.
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Hung-TingPan and 潘竑廷. "Implementation and Control Design of a Power-Assisted Wheelchair using Dynamic Decoupling Model." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/28832295633547894411.
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Chen, Guan-Jou, and 陳冠州. "New Design and Analysis of Seat Height Adjustable Wheelchair by Position Power Screw." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/35911365640925633309.
Full textAbstract:
碩士國立成功大學
醫學工程研究所碩博士班
94
Wheelchairs are main products within the market demand of the medical instruments nowadays. In the past years, either manual or powered wheelchairs had been designed to move on level ground. However it still has not been satisfied for the users to move in vertical direction. Consequently, an innovative design for a wheelchair with adjustable seat height will be an inevitable trend to establish a more functional wheelchair. The drawbacks of modern designs for vertical movements of a powered-wheelchair include an excessive height of the chassis which results in difficult to access and a mal-planning of the mass centroids between the wheelchair and user which usually increases the risks of fall. Otherwise, an improper mechanical design for lifting and lowering the wheelchair may injure the user’s body segments. This study presents a new mechanism design, Position Power Screw of 3-Stage Type, to achieve a safe seat-height adjustable function. The new design and analysis can overcome the above-described drawbacks, and do an accurate upward or downward motion of seat height. The system was divided into structural design and control simulation. The design rationale is that a power screw which is an element for precision positioning device providing up to different travel ranged will play an important role for the mechanism with variable seat height. Based on the different power screws combined, the mechanism efficiently overcomes the excessive height of the chassis when the seat lowers down to the lowest position. In order to assist the screw structure in supporting the external force and moment from the user or environment, the support mechanism was designed to improve the stability and strength for the whole structure. The whole designed structure was estimated the reliability and feasibility of structural strength in consideration of safe factors by FEM. Intelligent variable height system designed to solve the problem of mass mentroid was separated into static and dynamic system. Static system makes the seat height variable move in vertical direction by the user’s command when the wheelchair is stop. Dynamic system architecture modeled by combining inverted pendulum system and anatomical viewpoint can adjust the seat height automatically and keep the user stable without bending his/her trunk when the wheelchair detects different inclinations of a ramp. The two systems will be simulated via Simulink and estimated the validity and feasibility. And the designed system will not only detect the inclinations of a ramp and then adjust the seat height automatically but also keep the user stable from falling. According to the design and control system of this new mechanism, it can provide an excellent practicability and safety for a powered wheelchair. In the future, it may apply to other industrial applications.
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CHENG-SHING, TIN, and 張振勝. "Innovation Design & Development of Wheelchair Lifting Device & Portable Human Power Generator." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/66899932129291314870.
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Yueh-ChuHuang and 黃月珠. "Effect of Camber and Speed on Mechanical Energy and Power Flow in Wheelchair Propulsion." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/00788532713000392816.
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Wu, Hong-Wei, and 吳宏偉. "Study of Sensorless Control on a Power Wheelchair with a Six-Step Inverter Drive." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/89282447679178432692.
Full textAbstract:
碩士國立中興大學
電機工程學系所
95
This thesis introduces the motor system of the wheelchair and mathematics model first mainly, and do various kinds of control behaviors after understanding the mathematics model of the motor. The analogy joystick’s signals are digitalization by chip TMS320LF2407, the chip output suitable PWM signals commanded by user via firmware program to arrive at different movement for power wheelchairs. In controlling, designing two main loops, the inner loop PI is as the control law for current, and in speed control, armature voltage and armature current can judge the speed to arrive at sensorless control of speed. Using Variable Structure Control arrive at the command which users assign. The system is more stable and robust via inner and external loops.
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Chiang, Yu-Shu, and 蔣育書. "Power Management and System Integration of an Electrical Wheelchair with a Proton Exchange Membrane Fuel Cell." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/33975344352617033346.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
99
This thesis proposes control and integration of a fuel-cell powered wheelchair. The study was carried out in three steps: the fuel-cell control, power management, and system integration. First, we apply multivariable robust control strategies to a 500W proton exchange membrane fuel cell (PEMFC) system, which has inputs of air and hydrogen and outputs of stack voltage, to provide steady electrical power. Second, we design a serial power-train for the electric wheelchair. The power system consists of the 500W PEMFC, two 6.9Ah LiFePO4 battery sets, and two 300W electric motors. The motors are directly driven by the battery sets in order to avoid damaging the PEMFC by rapidly varying loads. And the battery sets are charged by the PEMFC when their capacities drop to a certain level. From the experimental results, the power management system is successful in providing uninterrupted electricity to the wheelchair. Lastly, we apply a motor control card and a joystick to regulate the motions of the wheelchair motors. Then we integrate the aforementioned sub-systems and demonstrate the effectiveness of the system by experiments.