Force sensing control for electric powered wheelchairs
Force sensing control for electric powered wheelchairs
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DOI：
10.1109/87.817696
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发表时间：
2000-01-01
影响因子：
4.8
通讯作者：
Ster, JF
中科院分区：
文献类型：
--
作者：
Cooper, RA;Widman, LM;Ster, JF
许多类型的残疾人使用电动轮椅(EPW)进行移动。过度的意向性震颤、有限的运动范围、手足徐动症和痉挛僵硬可能会减少或禁止对EPW的控制。本研究的重点是设计和测试一种新开发的用于EPW控制的等距操纵杆(IJ)。根据现有的性能标准对IJ进行了测试，并与商业位置感测操纵杆(PSJ)进行了比较，当所有受试者(包括对照组和受损受试者)平均时，使用该规则时，均方根跟踪误差和完成驾驶过程的时间没有显著差异(p<；0.05)，然而，受试者内部的结果显示出显著差异。然而，在所有受试者中，IJ在两个任务上优于PSJ：直线驾驶和绕圈驾驶。控制算法的进一步发展，特别是数字控制的实施，可能会导致IJ在性能方面的更大改进。
People with many types of disabilities use electric powered wheelchairs (EPW's) for mobility. Excessive intention tremor, limited range of motion, athetoid motions, and spastic rigidity can reduce or prohibit the control over an EPW. This study focused on the design and testing of a newly developed isometric joystick (IJ) for EPW control. The IJ was tested against existing performance standards and compared to a commercial position sensing joystick (PSJ), When averaged across all subjects (both controls and impaired subjects) the root-mean-square tracking error and time to complete the driving course were not significantly different when using the rule (p < 0.05), Results within a subject, however, did show significance. Across all subjects, nevertheless, the IJ was superior to the PSJ for two tasks: driving straight and driving in a circle. Further development of control algorithms, especially the implementation of digital control, could lead to greater improvement in performance with the IJ.