Wheelchair Simulator Research Articles

The effect of building bottlenecks on crowd dynamics involving individuals with simulated disabilities

With the development of urbanization and the growth of population, there is a growing demand for safety in public building facilities. As one of the essential building components of urban architecture, bottlenecks have a significant impact on the evacuation efficiency of crowds. Furthermore, the heterogeneity of crowds also contributes to the complexity of crowd movement through bottlenecks, while aggravating the magnitude of congestion induced by bottlenecks. The objective of this paper is to explore the movement characteristics of heterogeneous crowds passing through a corridor with a bottleneck by conducting a controlled experiment. There were three variables in this experiment, namely the individual categories (i.e., able-bodied individuals, simulated individuals on crutches and simulated wheelchair users), bottleneck width (i.e., 1.2, 1.6 and 2.0 m) and proportion of simulated disabilities in crowds (i.e., 0 %, 5 % and 10 %). Then offset angle, passing efficiency, fundamental diagram, etc., were analyzed. In trials involving simulated individuals on crutches, a higher detouring degree is observed compared to trials involving simulated wheelchair users or mixed groups of two types of simulated disabilities. There is an increase in flow rate induced by increasing the bottleneck width and decreasing the proportion of simulated disabilities. The passing efficiency at the upstream of the bottleneck in all tests is primarily influenced by the bottleneck width, while by the type and proportion of simulated disabilities at the downstream or inside the bottleneck. The findings are intended to complement the dynamic theory of heterogeneous crowds at building bottlenecks, while providing a reference for congestion control of crowds at bottlenecks.

Shared eHMI: Bridging Human–Machine Understanding in Autonomous Wheelchair Navigation

As automated driving system (ADS) technology is adopted in wheelchairs, clarity on the vehicle’s imminent path becomes essential for both users and pedestrians. For users, understanding the imminent path helps mitigate anxiety and facilitates real-time adjustments. For pedestrians, this insight aids in predicting their next move when near the wheelchair. This study introduces an on-ground projection-based shared eHMI approach for autonomous wheelchairs. By visualizing imminent motion intentions on the ground by integrating real and virtual elements, the approach quickly clarifies wheelchair behaviors for all parties, promoting proactive measures to reduce collision risks and ensure smooth wheelchair driving. To explore the practical application of the shared eHMI, a user interface was designed and incorporated into an autonomous wheelchair simulation platform. An observation-based pilot study was conducted with both experienced wheelchair users and pedestrians using structured questionnaires to assess the usability, user experience, and social acceptance of this interaction. The results indicate that the proposed shared eHMI offers clearer motion intentions display and appeal, emphasizing its potential contribution to the field. Future work should focus on improving visibility, practicality, safety, and trust in autonomous wheelchair interactions.

Robotics at the Service of Wheelchair Mobility for People with Disabilities: Story of a Clinical-Scientific Partnership.

The mobility of people with motor disabilities combined with sensory or cognitive disabilities, sometimes leads to safety issues that make independent travel impossible. In this context, teams based in Rennes in the west of France have been working together for several years to design two devices: - an power wheelchair simulator to promote learning to drive in an immersive virtual environment - a driving assistance module that can be added to an power wheelchair to pass and avoid obstacles. This transdisciplinary work was made possible by the geographical and human proximity of the scientific, technical and clinical teams in order to best meet the needs of the end users who were integrated into this co-design approach. This article describes the evolution of this work and future prospects.

Simulator and Microsimulation Study of Transportation Network Company Pickup/Dropoff Area Designs

The advent of transportation network companies (TNCs), also known as commercial ridesharing providers, has disrupted transportation systems leading to new facility designs. Dedicated pickup/dropoff areas can facilitate the future shift to autonomous vehicles. In this study, angled stalls and parallel curbside parking, along with signage and education, were investigated using pedestrian and wheelchair simulators. Human behavior was examined with regard to safety, efficiency, and accessibility. Microsimulation and Surrogate Safety Assessment Model were used to examine the effect of increased demand on design capacity and number of conflicts. In simulations, both stall and curbside designs performed comparably in crosswalk usage, but the stall design was safer when passengers waited longer for vehicle arrival. It is preferable to wait to approach the loading area until the TNC vehicle arrives. Stall design was more accessible but curbside design had greater efficiency because of shorter vehicle waiting time (−7.31 s [ p < 0.01]). Signage and education were found to be effective in increasing sidewalk usage, decreasing deviations from the crosswalk, and reducing vehicle waiting time. Post-simulator surveys showed similar ratings for safety (80.65%), with stall design scoring higher in accessibility (90% versus 52%) and curbside design slightly higher in efficiency (77% versus 68%). Participants reported almost equal preference for stall or curbside designs (48% versus 52%), and over 90% found the signage and education effective. Microsimulation indicated that stall design had higher capacity (500 vehicles per hour) than curbside design (350 vehicles per hour) within 180 linear feet, and fewer overall conflicts at 300 loadings.

Effectiveness of the miWe Simulator Training on Powered Wheelchair-driving Skills: A Randomized Controlled Trial

ObjectivesTo evaluate the effectiveness of a home-based simulator training, in comparison with a videogame-based training, in terms of powered wheelchair driving skills, skills use in a real-world setting, and driving confidence. DesignSingle-blinded randomized controlled trial. SettingCommunity. ParticipantsNew powered wheelchair users (N=47) randomly allocated to simulator group (n=24, 2 drop-out) and control group (n=23, 3 drop-out). InterventionsThe miWe wheelchair simulator (simulator group) or a kart driving videogame (control group) was setted-up at participants’ homes (computer + joystick). They were instructed to use it at least 20 minutes every 2 days, during a period of 2 weeks. Primary Outcome Measure(s)Assessments were done at baseline (T1) and post-training (T2) using the Wheelchair Skills Test Questionnaire (WST-Q, version 4.1), Wheelchair Confidence Scale (WheelCon), Assistive Technology Outcomes Profile for Mobility, and Life-Space Assessment (LSA). The time necessary to complete 6 WST tasks was measured with a stopwatch. ResultsParticipants of the simulator group significantly increased their WST-Q capacity score at T2 by 7.5% (P<.05), whereas the control group remained at the same score (P=.218). Participants of both groups rolled backward and went through a door significantly faster at T2 (P=.007; P=.016), but their speed did not change for the other skills. The WheelCon score significantly increased after training (+4% for the control group and +3.5% for the simulator group, P=.001). There was no T1-T2 difference between groups for the WST-Q performance scores (P=.119), the ATOP-Activity (P=.686), the ATOP-Participation scores (P=.814), and the LSA score (P=.335). No adverse events or side effects were reported during data collection or training. ConclusionsParticipants of both groups improved some skills and their wheelchair driving confidence. The simulator training group also demonstrated a modest post-training gain in their WST-Q capacity, but more studies would be needed to explore the long-term effects of the McGill immersive wheelchair simulator (miWe) simulator on driving skills.

Assistive Robotic Technologies for Next-Generation Smart Wheelchairs: Codesign and Modularity to Improve Users’ Quality of Life

This article describes the robotic assistive technologies developed for users of electrically powered wheelchairs, within the framework of the European Union’s Interreg ADAPT (Assistive Devices for Empowering Disabled People Through Robotic Technologies) project. In particular, special attention is devoted to the integration of advanced sensing modalities and the design of new shared control algorithms. In response to the clinical needs identified by our medical partners, two novel smart wheelchairs with complementary capabilities and a virtual reality (VR)-based wheelchair simulator have been developed. These systems have been validated via extensive experimental campaigns in France and the United Kingdom.

Clinical stakeholders’ perspective for the integration of an immersive wheelchair simulator as a clinical tool for powered wheelchair training

ABSTRACT This study aimed to investigate clinical stakeholders’ acceptance of an immersive wheelchair simulator as a potential powered wheelchair skills training tool. Focus groups, conducted in four rehabilitation centers, were used to obtain a rich understanding of participants’ experiences and beliefs. Then, a cross-sectional survey of the simulator acceptability for clinical practice was created. Twenty-three rehabilitation therapists and clinical program directors participated in the focus groups and thirty-three responded to the survey. Participants generally expressed that use of the simulator would be complementary to training in an actual powered wheelchair, and that it could be useful for challenging situations in rehabilitation centers (e.g. anxious clients; when there is uncertainty around their potential to drive a powered wheelchair; tasks that cannot be assessed in a real-life environment). They also provided suggestions to improve the simulator (e.g. more feedback during tasks; possibility of adjusting control settings such as speed and sensitivity; possibility of adding varied control interfaces). Feedback received from key stakeholders clearly indicated that the wheelchair simulator would be complementary to training provided in a real context of use. However, some important limitations must be addressed to improve the simulator and promote its adoption by clinical programs, therapists and clients.

Investigating User Proficiency of Motor Imagery for EEG-Based BCI System to Control Simulated Wheelchair.

The research on the electroencephalography (EEG)-based brain-computer interface (BCI) is widely utilized for wheelchair control. The ability of the user is one factor of BCI efficiency. Therefore, we focused on BCI tasks and protocols to yield high efficiency from the robust EEG features of individual users. This study proposes a task-based brain activity to gain the power of the alpha band, which included eyes closed for alpha response at the occipital area, attention to an upward arrow for alpha response at the frontal area, and an imagined left/right motor for alpha event-related desynchronization at the left/right motor cortex. An EPOC X neuroheadset was used to acquire the EEG signals. We also proposed user proficiency in motor imagery sessions with limb movement paradigms by recommending motor imagination tasks. Using the proposed system, we verified the feature extraction algorithms and command translation. Twelve volunteers participated in the experiment, and the conventional paradigm of motor imagery was used to compare the efficiencies. With utilized user proficiency in motor imagery, an average accuracy of 83.7% across the left and right commands was achieved. The recommended MI paradigm via user proficiency achieved an approximately 4% higher accuracy than the conventional MI paradigm. Moreover, the real-time control results of a simulated wheelchair revealed a high efficiency based on the time condition. The time results for the same task as the joystick-based control were still approximately three times longer. We suggest that user proficiency be used to recommend an individual MI paradigm for beginners. Furthermore, the proposed BCI system can be used for electric wheelchair control by people with severe disabilities.

Human–machine interface-based wheelchair control using piezoelectric sensors based on face and tongue movements

Hand-free control of assistive mobility devices has been developed to serve people with movement disabilities at all levels. In this study, we demonstrate a human–machine interface (HMI) system that uses piezoelectric sensors to translate face and tongue movements. This study addresses two issues. First, we used six piezoelectric sensors to acquire muscular facial signals to observe the sensor positions and features during winking and tongue movements. Second, we verified the proposed HMI for online simulated wheelchair control. Twelve volunteers participated in the experiment. A maximum classification accuracy of 98.0% from the maximum and mean parameters could be achieved using the linear discriminant analysis and K-nearest neighbors classification algorithms. Using the proposed algorithm, command translation patterns for command translation reached more than 95% of the average classification accuracy with 0.5 s of the window for command creation. For online control of the simulated wheelchair, the results showed high efficiency based on the time condition. The combination of winking and tongue actions results in a steering time of the same magnitude as that of joystick-based control, which is less than twice the time of a joystick. Hence, the proposed system can be further implemented in a powered wheelchair for quadriplegic patients who retain control in the face or tongue muscles.

WUAD (Wheelchair User Assisted Design): A VR-Based Strategy to Make Buildings More Accessible

Accessibility regulations towards building design and public places are more restrictive than in past years. Along with energy efficiency, accessibility is one of the pillars of an optimal building design. However, even buildings adapted for actual regulations are not always optimal, and there is still much to do to avoid adding more difficulties for people with disabilities. We proposed a wheelchair-user-assisted design methodology based on iterative bidirectional communication between a wheelchair simulator user and the building designer to reach the optimum specifications for an accessibility-friendly design. First-hand experience may be crucial to detect obstacles hardly noticeable to people with no impairments. To this end, VR technology was employed along with the mentioned wheelchair simulator to show the advantages of this kind of device when working on real-life experiences.

An experimental study on evacuation dynamics including individuals with simulated disabilities

This paper aims to measure the effect of individuals with simulated disabilities on evacuation processes in a room with an exit through a controlled experiment. A total of 60 individuals participated in the experiment. There are three mixed ratios (i.e., 0%, 5% and 10%) of users of two mobility aids (i.e., wheelchair users and pedestrians on crutches simulated by non-disabled pedestrians using auxiliaries). Video recordings and the Mean-shift algorithm are employed to extract and track pedestrians’ trajectories. Evacuation time, speed, evacuation sequence and specific flow are analyzed according to the trajectories. It is discovered that compared with tests without individuals with simulated disabilities, evacuation time in tests with simulated wheelchair users and pedestrians on crutches increases, while the average instantaneous speed and specific flow decrease. The spatial distribution obtained by the Nearest-neighbor analysis suggests that congestion near the exit formed slower in tests with individuals with simulated disabilities. It is found that compared with tests without individuals with simulated disabilities, crowd danger is higher in the tests involving individuals with simulated disabilities, especially with simulated wheelchair users. It is hoped that this study will be helpful in crowd management involving individuals with disabilities.

Virtual reality therapy in special needs education.

The Virtual Reality (VR) technology has become a part of our everyday lives. The VR systems allow the users to be directly involved in human-computer interaction. The Virtual Environment provides artificial sensory information, while Virtual Tools allow direct interaction from the users side. Virtual devices such as computers, smartphones, and interactive whiteboards often appear both in general and special education. Education and rehabilitation professionals also use VR systems in various fields. The aim of the study is to summarise the wide range of VR system applications in diversified areas of special education. Our literature review focuses on special education and rehabilitation, moving towards the context of inclusion. Based on the numerous research, applying VR tools to the educational field has been increasing year by year. In the early ’90s, researchers began using virtual learning environments and they demonstrated that the application of virtual methods can be extended to behavioral therapies (relate anxiety), physical therapies (e.g. wheelchair simulators), and to develop cognitive performance (to develop attention) or social skills (learning to navigate community literacy). VR systems allow the possibility of providing continuous feedback and the opportunity for interactive learning and skill development. In the practice of special needs education, VR systems are useful in intervention, as well as monitoring, and evaluation. By using VR systems, users from any age group can be motivated. Furthermore, these systems apply their own natural semantics and can be used without spoken language or other conventional symbols. VR can promote education more accessible and differentiated for children with disabilities. This is one of the conditions for the effectiveness of co-education. The VR systems make no distinction between the users, on the other hand, users with special needs may require more adaptation or support in using VR. Hungarian professionals in the field of special needs education are also using VR tools, which offer opportunities to develop skills for independent living.

Effect of Haptic Training During Manual Wheelchair Propulsion on Shoulder Joint Reaction Moments.

BackgroundManual wheelchair propulsion remains a very ineffective means of locomotion in terms of energy cost and mechanical efficiency, as more than half of the forces applied to the pushrim do not contribute to move the wheelchair forward. Manual wheelchair propulsion training using the haptic biofeedback has shown an increase in mechanical efficiency at the handrim level. However, no information is available about the impact of this training on the load at the shoulders. We hypothesized that increasing propulsion mechanical efficiency by 10% during propulsion would not yield clinically significant augmentation of the load sustained at the shoulders.MethodsEighteen long-term manual wheelchair users with a spinal cord injury propelled a manual wheelchair over a wheelchair simulator offering the haptic biofeedback. Participants were asked to propel without the Haptic Biofeedback (HB) and, thereafter, they were subjected to five training blocks BL1–BL5 of 3 min in a random order with the haptic biofeedback targeting a 10% increase in force effectiveness. The training blocs such as BL1, BL2 BL3, BL4, and BL5 correspond, respectively, to a resistant moment of 5, 10, 15, 20, and 25%. Pushrim kinetics, shoulder joint moments, and forces during the propulsive cycle of wheelchair propulsion were assessed for each condition.ResultsThe tangential force component increases significantly by 74 and 87%, whereas value for the mechanical effective force increases by 9% between the pretraining and training blocks BL3. The haptic biofeedback resulted in a significant increase of the shoulder moments with 1–7 Nm.ConclusionIncreases in shoulder loads were found for the corresponding training blocks but even though the percentage of the increase seems high, the amplitude of the joint moment remains under the values of wheelchair propulsion found in the literature. The use of the HB simulator is considered here as a safe approach to increase mechanical effectiveness. However, the longitudinal impact of this enhancement remains unknown for the impact on the shoulder joint. Future studies will be focused on this impact in terms of shoulder risk injury during manual wheelchair propulsion.

Usability of a virtual reality manual wheelchair simulator

Purpose: Individuals with impaired mobility often require assistance for getting around. The skilled use of a manual wheelchair (MW) is required in order to gain independence while preventing injuries. Training in a virtual reality (VR) setting allows for safe practice of MW skills in a wide range of environments. We developed a low-cost MW simulator which includes visual and haptic feedback. Our objectives were to assess the usability and fidelity of the VR simulator, by clinicians and expert MW users, and to determine whether the addition of haptic feedback would positively improve the user’s experience. Materials and Methods: This mixed method study investigated the sense of presence, overall experience and ease of use of the experience in six MW users, as well as five clinicians (wheeled mobility experts) who practiced in the simulator. Results: Participants reported a positive perception of usefulness, sense of presence, and immersion during the MiWe simulator experience. The addition of haptic feedback to the simulator significantly enhanced fidelity of the overall experience, compared to the no-feedback condition. Conclusion: Our low-cost simulator was well perceived by clinicians and MW users and was considered as a potentially useful tool to complement MW skill training. IMPLICATIONS FOR REHABILITATION We developed a low-cost, virtual reality simulator with visual and haptic feedback, for the practice of manual wheelchair skills. Expert clinicians and wheelchair users reported a positive experience after practicing in the wheelchair simulator, in terms of presence, realism and usability. Participants highlighted the potential usefulness of our low-cost simulator in the training of manual wheelchair skills.

The effects of a wheelchair simulation in a virtual world

The effects of a wheelchair simulation in a virtual world

Comparing the usability of a virtual reality manual wheelchair simulator in two display conditions.

Virtual reality (VR) simulators can help train manual wheelchair skills. Transfer of skills from the virtual to the real world may depend on the sense of presence, or of being “in” the virtual environment.ObjectivesTo compare 1) the usability (in terms of performance, overall experience, and satisfaction), as well as 2) the sense of presence, in a wheelchair simulator with two display conditions: a head-mounted display (HMD) or a computer monitor.MethodsSixteen healthy adults practiced in the wheelchair simulator, first with a computer monitor display and then with an HMD. Task performance, cybersickness, presence, and overall experience in VR were assessed.ResultsFour of the participants were unable to complete all tasks in the HMD condition. When comparing the two display conditions, performance was the same, except for one task (bathroom) which took longer with the computer monitor. The HMD condition was rated as significantly higher in terms of sense of presence and VR experience but provoked more intense symptoms of cybersickness.DiscussionUse of an HMD increased symptoms of cybersickness, with small gains in wheelchair performance. Thus, the use of an HMD may be warranted for the training of wheelchair skills, if tolerated by participants.

Examination of reducing VR sickness by displayed fixed grid in wheelchair simulator

Examination of reducing VR sickness by displayed fixed grid in wheelchair simulator

Study on reducing VR sickness for wheelchair simulator

Study on reducing VR sickness for wheelchair simulator

Preliminary assessment of a multimodal electric-powered wheelchair simulator for training of activities of daily living

Preliminary assessment of a multimodal electric-powered wheelchair simulator for training of activities of daily living

Augmenting robot intelligence via EEG signals to avoid trajectory planning mistakes of a smart wheelchair

Assistive robots operate in complex environments and in presence of human beings, but the interaction between them can be affected by several factors, which may lead to undesired outcomes: wrong sensor readings, unexpected environmental conditions, or algorithmic errors represent just a few examples of the possible scenarios. When the safety of the user is not only an option but must be guaranteed, a feasible solution is to rely on a human-in-the-loop approach, e.g., to monitor if the robot performs a wrong action during a task execution or environmental conditions affect safety during the human-robot interaction, and provide a feedback accordingly. The present paper proposes a human-in-the-loop framework to enable safe autonomous navigation of an electric powered and sensorized (smart) wheelchair. During the wheelchair navigation towards a desired destination in an indoor scenario, possible problems (e.g. obstacles) along the trajectory cause the generation of electroencephalography (EEG) potentials when noticed by the user. These potentials can be used as additional inputs to the navigation algorithm in order to modify the trajectory planning and preserve safety. The framework has been preliminarily tested by using a wheelchair simulator implemented in ROS and Gazebo environments: EEG signals from a benchmark known in the literature were classified, passed to a custom simulation node, and made available to the navigation stack to perform obstacle avoidance.