Abstract
The design and implementation of an electronic system that involves head movements to operate a prototype that can simulate future movements of a wheelchair was developed here. The controller design collects head-movements data through a MEMS sensor-based motion capture system. The research was divided into four stages: First, the instrumentation of the system using hardware and software; second, the mathematical modeling using the theory of dynamic systems; third, the automatic control of position, speed, and orientation with constant and variable speed; finally, system verification using both an electronic controller test protocol and user experience. The system involved a graphical interface for the user to interact with it by executing all the controllers in real time. Through the System Usability Scale (SUS), a score of 78 out of 100 points was obtained from the qualification of 10 users who validated the system, giving a connotation of “very good”. Users accepted the system with the recommendation to improve safety by using laser sensors instead of ultrasonic range modules to enhance obstacle detection.
Highlights
This research concerns the design and implementation of a position, speed, and orientation controller in a wheelchair simulation prototype through the use of graphical interface, inertial systems, and digital control algorithms
The results identify the biomechanics of patients after surgeries
This section is divided in three parts: First, the mathematical model based on physical characteristics of the prototype; second, the manual controller operated by graphical interface; and third, automatic controllers that uses fuzzy logic techniques
Summary
This research concerns the design and implementation of a position, speed, and orientation controller in a wheelchair simulation prototype through the use of graphical interface, inertial systems, and digital control algorithms. Wheelchairs are considered as an assistance instrument and allow the mobility of a person with functional performance disability. They are classified into manual and automatic. The structure of the article is made up of four stages: First, the wheelchair prototype instrumentation and the configuration of the IMOCAP-GIS motion capture system located on the user’s head; second, the mathematical model considering the dynamic systems model theory; third, manual and automatic control by means of intelligent control techniques to operate the prototype in seven directions: Forward, backward, right, left, back-right, back-left, and stop; fourth, a safety control using distance sensors to detect static obstacles. It began with a systematic review developed in [27], in addition to the development of the proposed system in a wheelchair prototype, the upcoming implementation in an electric-powered wheelchair, and experimental tests with users with disabilities in lower and upper limbs
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