Force feedback joystick control of a powered wheelchair: preliminary study

2005 ◽  
Author(s):  
A. Fattouh ◽  
M. Sahnoun ◽  
G. Bourhis
Keyword(s):  
Force Feedback ◽  
Powered Wheelchair ◽  
Preliminary Study ◽  
Joystick Control

scholarly journals Haptic Feedback Control of a Smart Wheelchair

2012 ◽  
Vol 9 (2) ◽  
pp. 181-192 ◽  
Author(s):  
Mohammed-Amine Hadj-Abdelkader ◽  
Guy Bourhis ◽  
Brahim Cherki
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Assistive Devices ◽  
Feedback Control System ◽  
Review Of The Literature ◽  
Powered Wheelchair ◽  
Motor Disability ◽  
Visually Impaired Persons ◽  
Smart Wheelchair

The haptic feedback, which is natural in assistive devices intended for visually impaired persons, has been only recently explored for people with motor disability. The aim of this work is to study its potential, particularly for assistance in the driving of powered wheelchairs. After a review of the literature for the previous related work, we present the methodology and the implementation procedure of a haptic feedback control system on a prototype of a smart wheelchair. We will also describe the approaches utilized to determine the appropriate force feedback that will ensure a cooperative behaviour of the system, and we will detail the two haptic driving modes that were developed, namely the active and passive modes. Experiments on a real prototype were carried out to study the contribution of the method in powered wheelchair driving and to evaluate the interest of the force feedback on the control joystick of the wheelchair. They are discussed on the basis of performance measures.

Characterization of Acetabular Cup Insertion Forces in Cancellous Bone Proxy for Validation of an Invasive Sensing Model and Development of Automatic Prosthesis Installation Device: A Preliminary Study

2020 ◽  
Vol 15 (2) ◽  
Author(s):  
Kambiz Behzadi ◽  
Jesse Rusk
Keyword(s):  
Force Feedback ◽  
Primary Stability ◽  
The United States ◽  
Assistive Technologies ◽  
Medical Procedure ◽  
Implant Stability ◽  
Acetabular Cup ◽  
Total Hip ◽  
Press Fit ◽  
Preliminary Study

Abstract Total hip replacement is a widespread medical procedure, with over 300,000 surgeries performed each year in the United States alone. The vast majority of total hip replacements utilize press fit fixation. Successful seating of the implant requires a delicate balance between inserting the implant deep enough to obtain sufficient primary stability, while avoiding fracture of bone. To improve patient outcomes, surgeons need assistive technologies that can guide them as to how much force to apply and when to stop impacting. The development of such technology, however, requires a greater understanding of the forces experienced in bone and the resulting cup insertion and implant stability. Here, we present a preliminary study of acetabular cup insertion into bone proxy samples. We find that as the magnitude of force on the acetabular cup increases, cup insertion and axial extraction force increase linearly, then nonlinearly, and finally plateau with full insertion. Within the small nonlinear zone, approximately 90% of both cup insertion and extraction force are achieved with only 50% total energy required for full seating, posing the question as to whether full seating is an appropriate goal in press-fit arthroplasty. For repeated impacts of a given energy, cup displacement and force experienced in bone (measured force profile—MFP) increase correspondingly and reach a plateau over a certain number of impacts (number of impacts to seating—NOITS), which represents the rate of insertion. The relationship between MFP and NOITS can be exploited to develop a force feedback mechanism to quantitatively infer optimal primary implant stability.

scholarly journals Sensorless force feedback joystick control for teleoperation of construction equipment

2017 ◽  
Vol 18 (7) ◽  
pp. 955-969 ◽  
Author(s):  
Truong Quang Dinh ◽  
Jong Il Yoon ◽  
James Marco ◽  
Paul Jennings ◽  
Kyoung Kwan Ahn ◽  
...  
Keyword(s):  
Force Feedback ◽  
Construction Equipment ◽  
Joystick Control

FUSING EMG AND VISUAL DATA FOR HANDS-FREE CONTROL OF AN INTELLIGENT WHEELCHAIR

2011 ◽  
Vol 08 (04) ◽  
pp. 707-724 ◽  
Author(s):  
LAI WEI ◽  
HUOSHENG HU ◽  
YI ZHANG
Keyword(s):  
Travel Time ◽  
Indoor Environment ◽  
Control Method ◽  
Disabled People ◽  
Powered Wheelchair ◽  
Intelligent Wheelchair ◽  
Machine Interface ◽  
Set Up ◽  
Facial Images ◽  
Joystick Control

This paper presents a novel hands-free human machine interface (HMI) for elderly and disabled people by fusing multi-modality bioinformation abstracted from forehead electromyography (EMG) signals and facial images of a user. The interface allows users to drive an electric-powered wheelchair using face movements such as jaw clenching and eye blinking. An indoor environment is set up for evaluating the application of this interface. Five intact subjects participated in the experiment to drive the intelligent wheelchair following designated routes and avoiding obstacles. Comparisons are made between this new interface and the traditional joystick control in terms of the easiness of control, travel time, wheelchair trajectory, and error command. The experimental results show that the proposed new control method is comparable to the joystick control method and can be used as a hands-free controller for the intelligent wheelchair.

scholarly journals Assessment of Joystick control during the performance of powered wheelchair driving tasks

2011 ◽  
Vol 8 (1) ◽  
pp. 31 ◽  
Author(s):  
Gianluca U Sorrento ◽  
Philippe S Archambault ◽  
François Routhier ◽  
Danielle Dessureault ◽  
Patrick Boissy
Keyword(s):  
Powered Wheelchair ◽  
Joystick Control
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