Virtual Obstacle Experiences using Virtual Reality for Welfare System Support

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To materialize dynamics which is close to the reality and to have the changes of the surroundings feedback to the subjects are essential to have some experiences of the difficulties that the handicapped have. Thus, the wheelchair experience system which had been manufactured for trial was produced by adding Force Display because it is considered that the feedback of the force information to such wheels is the indispensable factor to experience difficulties. Put the rear wheels of the wheelchair on two rollers, the front roller is equipped with the rotary encoder to control the speed, and the rear roller is connected with DC servomoter, timing belt, and pulley to show the force. The force sensor which the system is installed in measures the force that man wheels the wheelchair. Getting the force by putting in the value by A/D change, and decide the speed by the equation shown subsequently. Put the analog signals out to the DC servomotor through the servo-driver D/A change. Measure the speed by the encoder installed in the front roller at that time. Control the speed to make the set-up speed concur with the speed measured by the encoder, and materialize to show the force to the wheels.Besides, the experiment for the proofs to get the dynamics of Force Display concurred with the reality is done. First, measuring the distance got by the subjects pushing the wheels only once in reality, and then took an average. Then, doing the same thing using the system explained above, and set up the parameter to make the distances concurred. The result of the experiment proved that the value in reality concurs with that in virtual reality.As the theme form now on, to make the system more reflective to the difficulties, it is necessary to have some experiments to solve the recognition movements to the feedback generating from various surroundings, and especially to solve the characteristics of the handicapped themselves.