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Efficient Body-Transfer wheelchair for Assisting Functionally Impaired People

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Computers, Materials & Continua 2023年第3期74卷 4881-4900页

作者： Chyi-Yeu Lin Bahrudin Salman Masroor Department of Mechanical Engineering National Taiwan University of Science and TechnologyTaipei106TaiwanChina Center for Cyber-Physical Systems National Taiwan University of Science and TechnologyTaipei106TaiwanChina Taiwan Building Technology Center National Taiwan University of Science and TechnologyTaipei106TaiwanChina

Functionally impaired people always have difficulty accomplishing activities of daily *** this regard,tasks including toileting and bathing have a higher prevalence rate of injuries and greater risk of *** this study,a body-transfer wheelchair was developed to assist people in transferring from bed to wheelchair for bathing,and *** bodytransfer wheelchair is a semi-automatic wheelchair that has features such as a controlled leg and backrest,linkage commode slot,and height *** wheelchair consists of a seat and a main frame that can be detached to enable bathtub *** mechanism lets the user stay on the seat while being transferred into the bathtub without any risk of falling.A linkage mechanism was developed as a part of the seat for ease of *** and force analysis was conducted to calculate the force required for each *** has been proved by the experimental results that the wheelchair can securely and comfortably transfer a patient from the bed to the toilet or bathtub.A survey has been conducted to evaluate the wheelchair prototype design *** focus groups were chosen:one comprised of functionally impaired people,and the other comprised of *** results of the survey show that 60%of both functionally impaired people and caregivers would like to use the body-transfer wheelchair for toileting and bathing ***,on average 65%of both focus groups find it convenient to operate the body-transfer wheelchair independently.

关键词： wheelchair functionally-impaired people toileting bathing bodytransfer

The Shift of the Ischial Region during Maneuvering the Standard wheelchair and the Electric wheelchair in Healthy Adults

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International Journal of Clinical Medicine 2021年第7期12卷 297-305页

作者： Mikiko Uemura Masaharu Sugimoto Ryoko Shimizu Noriaki Maeshige Yoshiyuki Yoshikawa Hidemi Fujino Faculty of Health Science Department of Rehabilitation Kansai University of Welfare Sciences Kashiwara Japan Department of Rehabilitation Science Graduate School of Health Sciences Kobe University Kobe Japan Toyama Rehabilitation Medical Health and Welfare College Toyama Japan Department of Rehabilitation Kansai Medical University Hospital Hirakata Japan Faculty of Health Sciences Department of Rehabilitation Naragakuen University Nara Japan

Pressure injuries are frequent secondary complications that occur in patients with Spinal Cord Injury (SCI), and the recurrence rate of ischial pressure injury is highest in SCI patients. Most SCI patients use wheelchairs, and some studies have shown a relationship between buttock pressure and sitting posture. However, the pressure distribution during wheelchair maneuvering is unclear. We measured and compared the shift of the ischial region when maneuvering a standard wheelchair or electric wheelchair in healthy adults. The subjects drove wheelchairs on a flat ground of 10 m and the shift of ischial region was measured with a pressure distribution-measuring device. The ischial region shifted forward or backward while maneuvering both the standard wheelchair and the electric wheelchair, and the shift rate of the ischial region was not significantly different between the standard wheelchair and the electric wheelchair. The ischial region shift occurred when the forward head moved by the video while maneuvering both a standard wheelchair and an electric wheelchair. Therefore, the shift might occurred because the pelvis shifted forward in conjunction with head movement during maneuvering of both the standard wheelchair and the electric wheelchair. This result showed that it is important to reduce head and trunk movements when maneuvering a wheelchair to reduce the shear force on the buttocks and prevent pressure injuries.

关键词： Spinal Cord Injury Pressure Ulcer wheelchair Buttock Pressure

Robust MPC Method for BMI Based wheelchair

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Intelligent Control and Automation 2011年第4期2卷 340-350页

作者： Tohru Kawabe 不详

In this paper, robust MPC (Model Predictive Control) with adaptive DA converter method for the wheelchair using EEG (Electroencephalogram) based BMI (Brain Machine Interface) is discussed. The method is developed to apply to the obstacle avoidance system of wheelchair. This paper is the 1st stage for the development of the BMI based wheelchair in practical use. The robust MPC method is realized by using the minimax optimization with bounded constraint conditions. Some numerical examples are also included to demonstrate the effectiveness of the proposed methodas the former stage of the real experiments.

关键词： wheelchair Brain Machine Interface Model Predictive Control Adaptive DA Converter Minimax Optimization

Mean Threshold and ARNN Algorithms for Identification of Eye Commands in an EEG-Controlled wheelchair

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Engineering（科研） 2013年第10期5卷 284-291页

作者： Nguyen Thanh Hai Nguyen Van Trung Vo Van Toi Biomedical Engineering Department International University Vietnam National University Ho Chi Minh City Vietnam Faculty of Electrical-Electronics Engineering University of Technical Education Ho Chi Minh City Vietnam

This paper represented Autoregressive Neural Network (ARNN) and meant threshold methods for recognizing eye movements for control of an electrical wheelchair using EEG technology. The eye movements such as eyes open, eyes blinks, glancing left and glancing right related to a few areas of human brain were investigated. A Hamming low pass filter was applied to remove noise and artifacts of the eye signals and to extract the frequency range of the measured signals. An autoregressive model was employed to produce coefficients containing features of the EEG eye signals. The coefficients obtained were inserted the input layer of a neural network model to classify the eye activities. In addition, a mean threshold algorithm was employed for classifying eye movements. Two methods were compared to find the better one for applying in the wheelchair control to follow users to reach the desired direction. Experimental results of controlling the wheelchair in the indoor environment illustrated the effectiveness of the proposed approaches.

关键词： Autoregressive NN Model Threshold algorithm EEG Technology Eye Activity and Electrical wheelchair

Influence of wheelchair Cushions Fabricated by Therapists on Stability, Comfort, and Functionality

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Open Journal of Therapy and Rehabilitation 2020年第1期8卷 1-11页

作者： Takeshi Oshikawa Seigo Koura Nishikawa Chihoko Kazuho Nagao Kentaro Higashi Department of Rehabilitation Nishikyusyu University Saga Japan Social Welfare Corporation Kanjikai Japan

“Ease of comfort” and “functionality” are important factors that have been cited to improve wheelchair seating. The ability to maintain balance and posture while seated in a wheelchair improves stability, comfort, and functionality and is a prerequisite for daily activities. In this study, the authors used a sitting position measuring device to scientifically verify differences in sitting posture, comfort, and functionality depending on the presence or absence of cushions and the type of cushion in elderly individuals who used wheelchairs. Results suggested that a cushion fabricated by a therapist was more useful than a commercially available air cushion. While a commercially available air cushion was the most suitable, the therapist’s self-made cushion could be expected to demonstrate the same or better applicability than an air cushion.

关键词： wheelchair Sitting Stability Cushion Comfort Functionality

Improvement of a Joystick Controller for Electric wheelchair User

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Modern Mechanical Engineering 2015年第4期5卷 132-138页

作者： Masatomo Shibata Chao Zhang Takakazu Ishimatsu Motohiro Tanaka Joel Palomino Nagasaki University Graduate School of Engineering Nagasaki University Nagasaki Japan Department of Transportation Mechanics Kurume Institute of Technology Kurume Japan Pontificia Universidad Catolica del Peru Lima Peru

The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the user on the wheelchair wants to operate the computer for his jobs or enjoyment, it is preferable for the user to be able to operate the computer without transferring from the wheelchair to a computer desk. Of course, some computer input devices are available for wheelchairs. One reasonable idea is to use the familiar joystick on the wheelchair as a computer input device. In this paper a joystick controller is proposed, which enables the user on the wheelchair to operate the computer settled on a nearby table. The proposed joystick controller can be achieved by mounting the sensor unit on the joystick without any modification of the conventional wheelchair controller. The principle of the sensing unit is to measure the inclination angle and the direction of the joystick with an acceleration and gyro sensor. Then the sensing unit sends the control data to the computer via an infrared or wireless signal. This proposal is based on a request done by the wheelchair users.

关键词： wheelchair Joystick Communication Computer Interface

Localization and Navigation of Intelligent wheelchair in Dynamic Environments

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Localization and Navigation of Intelligent Wheelchair in Dyn...

Wanting a Life in Decency!—A Qualitative Study from Experienced Electric wheelchairs Users’ perspective

2013年中国智能自动化学术会议

作者： Jingchuan Wang Juncheng Wang Weidong Chen Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China State Key Laboratory of Robotics and System(HIT)

An intelligent wheelchair JiaoLong with multi-mode is developed for the handicapped and the *** is designed of two manipulate modes according to the user’s disability and the environments for *** on the dynamic localizability matrix,an improved particle filter localization algorithm is proposed in this *** results of experiments show the practicability of the system design and the effectiveness provided by the improved localization method.

关键词： Intelligent wheelchair Control modes Localization Algorithm

来源： cnki会议评论

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Open Journal of Nursing 2018年第7期8卷 419-433页

作者： Lisbeth Kristiansen Department of Nursing Sciences Faculty of Human Sciences Mid Sweden University Sundsvall Sweden Department of Health Care Faculty of Sciences University of G&#228 vle G&#228 vle Sweden

Background: The functionality and the safety of the electric wheelchairs were essential for users’ everyday life. Some evidence indicated that the wheelchair Per Se highly influenced users’ occupational life, their personal identity and social life;further, the wheelchair became an extension of the body and more than a technical device. Besides, there was still both environmental and self-efficacy or/and mental health factors obstacles for full social participation. Even so, there was to some extent stigma related to being a wheelchair user. There was a need to reflect users’ perspective on being depended on electric wheelchair. The aim, accordingly, was to describe and to get a deeper insight into electric wheelchairs users’ perspective and experiences of utilizing this device;a qualitative design with an inductive approach was used. Method: Qualitative latent and interpretative content analysis [1] [2] was used after repeated face-to-face semi-structured interviews with three experienced Swedish electric wheelchair users during the autumn 2017. Findings: The findings showed a high degree of dependability of the assistants that supported the users, and of the quality of that working relationship. The findings were formulated, abstracted and interpreted in several steps. It showed one theme of meaning: “Living in a space shifting between potential violation of or respect for human dignity”. Conclusion: The study showed that electric wheelchair users were relatively content with their lives as well as with their devices in turns of mobility and accessibility, but the meaning of their narrations showed a life at constant risk of having the respect of human rights and human respect violated. Besides, the importance of having access to good and high quality devices, good staffing, and environmental support, all in concordance with human rights, the clinical and practical implications of this study narrows down to a question of encountering the other person as a whole an

关键词： Electric wheelchair Qualitative Latent Analysis Users’ Perspective

IP Mobility Issues for a Mobile Tele-Robotic System-NEPWAK

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International Journal of Automation and computing 2004年第1期1卷 10-16页

作者： Alexander Ferworn Ankit Arora Muhammad Jaseemuddin Network-Centric Applied Research Team Ryerson University CanadaNetwork-Centric Applied Research Team Ryerson University CanadaNetwork-Centric Applied Research Team Ryerson University Canada

The network-centric applied research team (N-CART) is continuing its work on an ambitious project known as the network-enabled powered wheelchair adaptor kit (NEPWAK). It introduces techniques for modifying and using powered wheelchairs as mobile platforms enabling communication and remote control. The wheelchair is equipped with a laptop computer, a CCD camera and a wireless network interface card (NIC) for 802.11b Internet access. The laptop acts as a server allowing network clients to gain access through a custom control interface on the chair. The remote controlling client receives a video and audio feed from the chair and sends control signals for maneuvering. While traveling, the chair is able to change its network association from one access point (AP) to another within the same subnet-the process is known as handoff. However, there is no inter-network handoff mechanism presently available in IP networks. This restricts the mobility of the wheelchair to within the coverage area of the subnet APs. This paper shows that the Internet engineering task force’s (IETF) network layer mobility protocol—Mobile IP suffers from large handoff latencies that can hinder communication between the client and the wheelchair during handoff. Mobile IP alone is not a sufficient solution for a mobile telebotic system such as NEPWAK. An interesting solution to the handoff latency problem comes from the Fast-handover protocol described in Section 4.4 with simulation results in Section 6.2.

关键词： Telebot wheelchair 802.11 Wi-Fi handoff mobile IP fast handover