Field Usability Testing of a robotic wheelchair with passive-active suspension for seat stability in uneven terrains
具有被动主动悬架的机器人轮椅的现场可用性测试,以确保不平坦地形中的座椅稳定性
基本信息
- 批准号:10710189
- 负责人:
- 金额:--
- 依托单位:
- 依托单位国家:美国
- 项目类别:
- 财政年份:2022
- 资助国家:美国
- 起止时间:2022-11-01 至 2026-10-31
- 项目状态:未结题
- 来源:
- 关键词:AccidentsArchitectureAutomobile DrivingAwarenessClinicalCommunitiesDevicesDimensionsDropsEngineeringEnsureEnvironmentEvaluationExhibitsExposure toFeedbackGrantInjuryMaintenanceMapsMeasuresMediationModelingMotionParticipantPerceptionPerformancePhasePowered wheelchairQuality of lifeRampReadinessReportingResearchRiskRisk ReductionRoboticsSafetySelf-Help DevicesSignal TransductionSpeedSurfaceSuspensionsSystemTechnologyTestingThinnessTimeVariantVeteransWheelchairsdesigndisabilityfallsimprovedimproved mobilitymeetingsmobility aidnovelphase 1 designspressurepreventresponsesensorsuccesstoolusabilityvibration
项目摘要
At present, existing Electric Powered Wheelchairs (EPWs) are limited primarily to use indoors
and outdoors with ADA compliant surfaces. EPW users are often exposed to irregular surfaces
that include inclined surface (i.e., slopes and, curb-ramps) and/or surfaces with ground changes
(i. e. sidewalks, curb drops, speed-bumps, cobblestones). Attempting to drive over such surfaces
may cause loss of stability due to wheelchair limitations and user’s limited spatial awareness.
Further, surfaces with architectural barriers such as blocked curb-ramps or in bad condition may
constrain wheelchair user from accessing sidewalks, limiting their participation in the community.
The Mobility Enhancement Robotic (MEBot) EPW was developed to reduce the risk of tips and
falls when facing these challenging terrains through advanced mobility applications. During the
CDA-1, MEBot was re-designed with a passive-active actuation and suspension (MEBot-PAAS)
system to offer a faster and reliable response to maintain stability on inclined surfaces (Grant
#A3076-M) compared to commercial EPWs and its previous iteration. While stability was
successful, it was noted that its seat orientation significantly changed during sudden changes in
the surface. Driving on surfaces with significant ground changes (e.g., sidewalk cracks, curb
drops, potholes) may cause MEBot-PAAS to roll-over. Therefore, this CDA-2 proposes to Aim 1)
implement MEBot-PAAS capabilities to traverse irregular surfaces (not addressed in the CDA-1)
while maintaining stability. Further, Aim 2) will identify its features and clinical limits of use by a
group of stakeholders. Aim 3) will evaluate the usability of MEBot-PAAS with Veterans with
disabilities in real-world environments to achieve technology readiness to bring it to Veterans.
Aim 1 (Year 1-2): Implementation and evaluation of MEBot-PAAS applications (self-leveling and
step negotiation) to navigate on irregular surfaces. Aim will be conducted in three phases:
Phase 1: Perform engineering changes for implementation of MEBot-PAAS applications:
• Develop a dynamic model to reduce Center of Pressure displacement and maintain stability
• Incorporate depth sensors for surface characterization and speed limitation ahead of surfaces.
• Implement legged-wheel motion to navigate surfaces with significant ground changes.
Phase 2: Engineering analysis will evaluate the implemented MEBot-PAAS applications using a
‘rescue dummy’ on controlled irregular surfaces to meet Phase 1 design criteria.
Phase 3: Evaluate the performance of MEBot-PASS compared to MEBot-nPAAS (applications
de-activated) on controlled irregular surfaces. MEBot-nPAAS will simulate conventional EPWs.
We hypothesize that: H1a. MEBot-PAAS will show less center of pressure displacement and H1b.
less seat angle variation than MEBot-nPAAS. H1c. A significant difference in vibration levels will
be observed between MEBots. Also, participants will report H1d. less lean amplitude, H1e. higher
usability and less discomfort scores with MEBot-PAAS compared to MEBot-nPAAS.
Aim 2 (Year 3). Identify MEBot-PAAS benefits and limitations following the Clinical Limits of Use
Tools (CLOUT). These tools include wheelchair standards and stakeholders’ feedback.
Aim 3 (Year 4). Field usability evaluation of MEBot-PAAS in outdoor environments. We
hypothesize that H3a. MEBot-PAAS will show less seat angle variation and vibration levels in
comparison to participants’ own EPWs. H3b. Participants will report significantly less lean
amplitude (safety perception), higher usability, less discomfort, and lower task load demand when
using MEBot-PAAS in comparison to their own EPWs
目前,现有的电动轮椅主要局限于室内使用
和户外使用符合ADA标准的表面。EPW用户经常暴露在不规则的表面上
包括倾斜表面(即斜坡和路缘坡道)和/或具有地面变化的表面
(例如,人行道、路缘坡道、减速带、鹅卵石)。试图在这样的路面上开车
由于轮椅的限制和使用者的空间意识有限,可能会导致稳定性的丧失。
此外,带有建筑障碍物的表面,如阻塞的路边坡道或状况不佳的表面,可能会
限制轮椅使用者进入人行道,限制他们参与社区活动。
移动增强机器人(MeBot)EPW的开发旨在降低TIPS和
当通过高级移动应用程序面对这些具有挑战性的地形时。在.期间
CDA-1,MeBot重新设计了被动-主动驱动和悬挂(MeBot-PaaS)
系统提供更快、更可靠的响应,以保持倾斜表面的稳定性(GRANT
#A3076-M)与商用EPW及其先前版本进行比较。而稳定则是
成功后,人们注意到它的座椅朝向在#年的突然变化期间发生了显著变化。
表面。在地面有显著变化(如人行道裂缝、路缘)的路面上行驶
水滴、凹坑)可能会导致MeBot-PaaS翻滚。因此,这份CDA-2建议将目标1)
实施MeBot-PaaS功能以遍历不规则曲面(CDA-1中未涉及)
同时保持稳定。此外,Aim 2)将确定其特征和临床使用限制
利益相关者组。Aim 3)将评估MeBot-PaaS在退伍军人中的可用性
在现实世界环境中为残疾人提供技术支持,为退伍军人提供技术支持。
目标1(1-2年级):MeBot-PaaS应用程序的实施和评估(自我调平和
步骤协商)在不规则曲面上导航。AIM将分三个阶段进行:
阶段1:为实施MeBot-PaaS应用程序执行工程更改:
·开发动态模型以减少压力中心位移并保持稳定性
·安装深度传感器,用于表面特性和表面前面的速度限制。
·实施脚轮运动,在地面发生重大变化的情况下导航表面。
阶段2:工程分析将评估已实施的MeBot-PaaS应用程序
在受控制的不规则表面上设置“救援假人”,以满足第一阶段的设计标准。
阶段3:评估MeBot-Pass与MeBot-nPAAS(应用程序)的性能
停用)控制的不规则曲面。MeBot-nPAAS将模拟传统的EPW。
我们假设:H1a。MeBot-PaaS将显示较少的压力中心位移和H1B。
座椅角度变化小于MeBot-nPAAS。H1c.振动水平的显著差异将
在MEBot之间被观察到。此外,参与者将报告H1d。倾斜幅度较小,H1E。更高
与MeBot-nPAAS相比,MeBot-PaaS的可用性和更少的不适感得分。
目标2(第三年)。根据临床使用限制确定MeBot-PaaS的优势和局限性
工具(法规)。这些工具包括轮椅标准和利益相关者的反馈。
目标3(4年级)。MeBot-PaaS在室外环境中的现场可用性评估。我们
假设H3a病毒。MeBot-PaaS将显示较小的座椅角度变化和振动级别
与参与者自己的EPW进行比较。H3B。参与者报告的精益程度将显著降低
幅度(安全感)、更高的可用性、更少的不适感和更低的任务负载需求
使用MeBot-PaaS与他们自己的EPW进行比较
项目成果
期刊论文数量(1)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Usability and Vibration Analysis of a Low-Profile Automatic Powered Wheelchair to Motor Vehicle Docking System.
低调自动驱动轮椅到机动车辆对接系统的可用性和振动分析。
- DOI:10.3390/vibration6010016
- 发表时间:2023-02-24
- 期刊:
- 影响因子:2
- 作者:Lee CD;Daveler BJ;Candiotti JL;Cooper R;Sivakanthan S;Deepak N;Grindle GG;Cooper RA
- 通讯作者:Cooper RA
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Jorge Candiotti其他文献
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{{ truncateString('Jorge Candiotti', 18)}}的其他基金
Field Usability Testing of a robotic wheelchair with passive-active suspension for seat stability in uneven terrains
具有被动主动悬架的机器人轮椅的现场可用性测试,以确保不平坦地形中的座椅稳定性
- 批准号:
10537561 - 财政年份:2022
- 资助金额:
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