Simulation System of Electric-Powered Wheelchairs for Training Purposes.

Kevin A. Hernandez-Ossa,Ivan R. Enriquez,Berthil Longo,Eduardo H. Montenegro-Couto,Mariana M. Sime,Hilton M. Lessa,Alexandre Bissoli,Anselmo Frizera-Neto,Teodiano Bastos-Filho

doi:10.3390/s20123565

Kevin A. Hernandez-Ossa, Ivan R. Enriquez + Show 7 more

Open Access

https://doi.org/10.3390/s20123565

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Abstract

For some people with severe physical disabilities, the main assistive device to improve their independence and to enhance overall well-being is an electric-powered wheelchair (EPW). However, there is a necessity to offer users EPW training. In this work, the Simcadrom is introduced, which is a virtual reality simulator for EPW driving learning purposes, testing of driving skills and performance, and testing of input interfaces. This simulator uses a joystick as the main input interface, and a virtual reality head-mounted display. However, it can also be used with an eye-tracker device as an alternative input interface and a projector to display the virtual environment (VE). Sense of presence, and user experience questionnaires were implemented to evaluate this version of the Simcadrom in addition to some statistical tests for performance parameters like: total elapsed time, path following error, and total number of commands. A test protocol was proposed and, considering the overall results, the system proved to simulate, very realistically, the usability, kinematics, and dynamics of a real EPW in a VE. Most subjects were able to improve their EPW driving performance in the training session. Furthermore, all skills learned are feasible to be transferred to a real EPW.

Highlights

Health conditions like spinal cord injury, traumatic brain injury, multiple sclerosis, quadriplegia, cerebral palsy, stroke, and some congenital problems can lead to movement disorders that significantly reduce quality of life
The qualitative and quantitative results from the abovementioned protocol test are analyzed in order to assess whether they support the hypotheses stated before
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Summary

Introduction

Health conditions like spinal cord injury, traumatic brain injury, multiple sclerosis, quadriplegia, cerebral palsy, stroke, and some congenital problems can lead to movement disorders that significantly reduce quality of life. For some people with severe physical disabilities, the main assistive device to improve their independence in ADL and to enhance overall well-being is an electric-powered wheelchair (EPW). Since many wheelchair users find nearly impossible to drive with conventional EPW interfaces [2], a wide variety of alternative approaches has been proposed for EPW control [3], including special joysticks [4], EEG (electroencephalography) [5], EMG (electromyography) [6], eye gaze tracking [7], and hybrid EEG/EMG [8]. To prevent any safety risks when driving EPW, several. To prevent any safety risks when driving EPW, several algorithms algorithms have been developed, including obstacle avoidance technics and autonomous navigation have been developed, including obstacle avoidance technics and autonomous navigation [9].

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