Control and Evaluation of a Motorized Attendant Wheelchair With Haptic Interface

2018 ◽  
Vol 13 (1) ◽  
Author(s):  
Oscar Y. Chuy ◽  
Jonathan Herrero ◽  
Asma Al-Selwadi ◽  
Adam Mooers
Keyword(s):  
Haptic Interface ◽  
Task Completion ◽  
Heavy Load ◽  
Control Approach ◽  
Confined Spaces ◽  
Control Interface ◽  
Completion Times ◽  
Power Assistance ◽  
Motion Behavior ◽  
Joystick Control

Attendant wheelchairs provide a means to transport patients or mobility to people with walking disability. They can be attendant propelled, which are highly maneuverable in confined spaces, but offer no power assistance. Also, they can be electric powered with joystick control interface, which provides power assistance, but not as maneuverable as the attendant propelled wheelchair. With the objective of providing power assistance and having excellent maneuverability, this paper presents a motorized attendant wheelchair with haptic interface. Its control approach is based on virtual/desired dynamics, which is not the true dynamics of the wheelchair, but a mathematical model describing the motion behavior of a desired system. The desired dynamics takes the user's applied force/torque and yields desired velocities of the wheelchair. In the evaluation, tasks in confined spaces that require a lot of maneuvers were given and performed using the motorized wheelchair with haptic and joystick control interfaces. The results in terms of task completion times showed that motorized wheelchair with haptic significantly outperformed the motorized wheelchair with joystick interface. In addition, the performance of the motorized with haptic interface and attendant propelled wheelchairs were evaluated at two different loads. At heavy load, the task completion times of motorized wheelchair with haptic interface were comparable to the attendant propelled wheelchair.

The Effects of Practice on Navigation Performance and Mental Workload with a Mirror-In-The-Sky Map

2021 ◽  
Vol 65 (1) ◽  
pp. 1546-1550
Author(s):  
Holland M. Vasquez ◽  
Justin G. Hollands ◽  
Greg A. Jamieson
Keyword(s):  
Task Performance ◽  
Secondary Task ◽  
Mental Workload ◽  
Task Completion ◽  
Practice Performance ◽  
Global Ratings ◽  
Detection Response ◽  
Nasa Tlx ◽  
Response Task ◽  
Completion Times

Some previous research using a new augmented reality map display called Mirror-in-the-Sky (MitS) showed that performance was worse and mental workload (MWL) greater with MitS relative to a track-up map for navigation and wayfinding tasks. The purpose of the current study was to determine—for both MitS and track-up map—how much performance improves and MWL decreases with practice in a simple navigation task. We conducted a three-session experiment in which twenty participants completed a route following task in a virtual environment. Task completion times and collisions decreased, subjective MWL decreased, and secondary task performance improved with practice. The NASA-TLX Global ratings and Detection Response Task Hit Rates showed a larger decrease in MWL with MitS than the track-up map. Additionally, means for performance and workload measures showed that differences between the MitS and track-up map decreased in the first session. In later sessions the differences between the MitS and track-up map were negligible. As such, with practice performance and MWL may be comparable to a traditional track-up map.

Evaluation of Rate-Based, Force-Reflecting Teleoperation in Free Motion and Contact

2000 ◽  
Vol 9 (1) ◽  
pp. 25-36 ◽  
Author(s):  
Robert L. Williams ◽  
Jason M. Henry ◽  
Daniel W. Repperger
Keyword(s):  
Task Performance ◽  
Air Force ◽  
Free Motion ◽  
Effectiveness Evaluation ◽  
Task Completion ◽  
Teleoperation System ◽  
Force Reflection ◽  
Teleoperation Systems ◽  
Contact Tasks ◽  
Completion Times

This research focuses on improved control for force-reflecting teleoperation systems in free motion and contact tasks. Specifically, the Naturally Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to achieve a unified controller with no mode switches from free motion to contact, and to reduce the wrench exerted on the environment by the slave manipulator during remote teleoperation tasks. In an effectiveness evaluation experiment, the experimental hypothesis is validated: the NTRFC with force reflection performs the best amongst four teleoperation control modes with respect to minimal wrench exertion on the environment. A negligible difference was found in total task-completion times amongst the four modes. The NTRFC with force reflection has the potential to improve task performance in remote, hazardous, teleoperation tasks in which minimal exerted wrench is desirable.

scholarly journals The Relationship between Physical Fitness and Simulated Firefighting Task Performance

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Goris Nazari ◽  
Joy C. MacDermid ◽  
Kathryn E. Sinden ◽  
Tom J. Overend
Keyword(s):  
Heart Rate ◽  
Physical Fitness ◽  
Grip Strength ◽  
Upper Body ◽  
Task Completion ◽  
Body Strength ◽  
Fitness Parameters ◽  
Lower Body Strength ◽  
The Relationship ◽  
Completion Times

The overall aim of this study was to measure the physiological responses of firefighters from a single fire service during simulated functional firefighting tasks and to establish the relationship between physical fitness parameters and task performance. 46 males and 3 females firefighters were recruited. Firefighters’ aerobic capacity levels were estimated using the Modified Canadian Aerobic Fitness Test (mCAFT). Grip strength levels, as a measure of upper body strength levels, were assessed using a calibrated J-Tech dynamometer. The National Institute for Occupational Safety and Health (NIOSH) protocol for the static floor lifting test was used to quantify lower body strength levels. Firefighters then performed two simulated tasks: a hose drag task and a stair climb with a high-rise pack tasks. Pearson’s correlation coefficients (r) were calculated between firefighters’ physical fitness parameters and task completion times. Two separate multivariable enter regression analyses were carried out to determine the predictive abilities of age, sex, muscle strength, and resting heart rate on task completion times. Our results displayed that near maximal heart rates of ≥88% of heart rate maximum were recorded during the two tasks. Correlation (r) ranged from −0.30 to 0.20. For the hose drag task, cardiorespiratory fitness and right grip strength (kg) demonstrated the highest correlations of −0.30 and −0.25, respectively. In predicting hose drag completion times, age and right grip strength scores were shown to be the statistically significant (p<0.05) independent variables in our regression model. In predicting stair climb completion times, age and NIOSH scores were shown to be the statistically significant (p<0.05) independent variables in our regression model. In conclusion, the hose drag and stair climb tasks were identified as physiological demanding tasks. Age, sex, resting heart rate, and upper body/lower body strength levels had similar predictive values on hose drag and stair climb completion times.

scholarly journals Position Sensorless Control of Switched Reluctance Motor with Consideration of Magnetic Saturation Based on Phase-Inductance Intersection Points Information

Energies ◽  
2018 ◽  
Vol 11 (12) ◽  
pp. 3517 ◽  
Author(s):  
Hui Cai ◽  
Hui Wang ◽  
Mengqiu Li ◽  
Shiqi Shen ◽  
and Yaojing Feng
Keyword(s):  
High Speed ◽  
Sensorless Control ◽  
Switched Reluctance Motor ◽  
Position Estimation ◽  
Magnetic Saturation ◽  
Heavy Load ◽  
Memory Space ◽  
Switched Reluctance ◽  
Control Approach ◽  
Reluctance Motor

The precise estimation of position is an essential concern for the control of a switched reluctance motor (SRM). Given the prominent role of position, the promising sensorless control approach for an SRM drive should be capable of providing accurate position. An inductance-based approach has been widely applied in the position estimation. However, the estimated accuracy suffers from the magnetic saturation effect, resulting in the poor performance of sensorless operation. This paper presents a reversible synchronization of commutation with the corresponding rotor position for SRM. With the consideration of magnetic saturation, the proposed approach is taken as a suitable candidate and plays an essential role in accommodating the requirement of optimal control. The relationship between a typical inductance position and magnetic circuit saturation is investigated. The instant of the intersections is sensed by comparing the instantaneous inductance of adjacent phases. Thus, the predicted position is obtained with the information of the special point and the calculated average speed. Compared with other existing methods, the proposed approach has the certain advantages, such as the ability to update the estimated speed and position six times per electrical period, which guarantees the estimated accuracy. The proposed approach is also valid even when the motor is operated at an acceleration state and heavy load operation. In addition, the requirement of the educated inductance structure is not unnecessary, less memory space is needed in the chip, and the accumulated error is eliminated. The simulation and experimental findings demonstrate the feasibility and practicality of the proposed position estimation approach with carrying out the inertial operation, load mutation, and high-speed test.

scholarly journals A study of the user experience when interacting with applications that work with sports armbands to monitor human activity

2021 ◽  
Vol 21 ◽  
pp. 349-355
Author(s):  
Mateusz Kiryczuk ◽  
Paweł Kocyła ◽  
Mariusz Dzieńkowski
Keyword(s):  
Eye Tracking ◽  
Human Activity ◽  
User Experience ◽  
Mobile Applications ◽  
User Satisfaction ◽  
Average Score ◽  
Task Completion ◽  
Completion Times

This paper concerns the study of user experience and focuses on two aspects i.e. usability and user satisfaction. Two mobile applications for monitoring human activity, Mi Fit and Google Fit, were tested. Both applications work with sports armbands. Two methods were used for the study: a questionnaire and eye tracking. The comparison of the applications was made on the basis of the collected results from questionnaires, measurements of task completion times and the number and type of errors detected. Nine respondents participated in the study. The Google Fit application received a higher average score for user satisfaction, fewer errors and shorter task completion times.

scholarly journals Sonification of reference markers for auditory graphs: effects on non-visual point estimation tasks

2016 ◽  
Vol 2 ◽  
pp. e51 ◽  
Author(s):  
Oussama Metatla ◽  
Nick Bryan-Kinns ◽  
Tony Stockman ◽  
Fiore Martin
Keyword(s):  
Experimental Design ◽  
Contextual Information ◽  
Point Estimation ◽  
Task Completion ◽  
Trade Off ◽  
Speech Control ◽  
Data Sonification ◽  
Multiple References ◽  
Completion Times ◽  
Reference Markers

Research has suggested that adding contextual information such as reference markers to data sonification can improve interaction with auditory graphs. This paper presents results of an experiment that contributes to quantifying and analysing the extent of such benefits for an integral part of interacting with graphed data: point estimation tasks. We examine three pitch-based sonification mappings; pitch-only, one-reference, and multiple-references that we designed to provide information about distance from an origin. We assess the effects of these sonifications on users’ performances when completing point estimation tasks in a between-subject experimental design against visual and speech control conditions. Results showed that the addition of reference tones increases users accuracy with a trade-off for task completion times, and that the multiple-references mapping is particularly effective when dealing with points that are positioned at the midrange of a given axis.

VISUAL ENVIRONMENT AND JOYSTICK BASED CONTROL FOR HUMANOID TELEOPERATION

2009 ◽  
Vol 06 (02) ◽  
pp. 91-97
Author(s):  
MUHAMMAD USMAN KEERIO ◽  
YUEPIN LU
Keyword(s):  
Virtual Reality ◽  
Robot Vision ◽  
Control Technique ◽  
Visual Environment ◽  
Virtual Scene ◽  
Video Information ◽  
Control Interface ◽  
Walking Motion ◽  
Virtual Visual Environment ◽  
Joystick Control

In the case of dark/bad light environments cameras cannot shoot images clearly for the operator to complete the task. Also, video information from camera or robot vision is not enough for some typical applications like telesurgery to pick up an object. In this paper a novel controlling approach for humanoid teleoperation using virtual reality is presented, such that the robot can work safely and accurately in such circumstances. In this regard the work has been enhanced by developing the virtual/visual environment using joystick control interface for controlling Humanoid BHR-2 motion to complete a task safely and accurately. Software Maya is chosen for this work, which can perform all the vision-related calculations. Experiments are conducted using joystick control commands where the operator controls BHR-2 walking motion while looking at virtual scene on his computer to confirm the effectiveness of novel control technique.

Haptic Gloves With Compact Finger Mechanism Using Active and Passive Actuation

2009 ◽  
Author(s):  
Goktug A. Dazkir ◽  
Hakan Gurocak
Keyword(s):  
Virtual Worlds ◽  
Force Feedback ◽  
Reaction Force ◽  
Magnetorheological Fluid ◽  
Task Completion ◽  
Bottom Surface ◽  
The One ◽  
Distributed Forces ◽  
Completion Times ◽  
Natural Way

Most haptic gloves are complicated interfaces with many actuators. If the gloves were more compact and simpler, they would greatly increase our ability to interact with virtual worlds in a more natural way. This research explored design of force feedback gloves with a new finger mechanism. The mechanism enabled application of distributed forces at the bottom surface of the fingers while reducing the number of actuators. Most glove designs available in the literature apply a reaction force only to the fingertips. Two prototype gloves were built using (1) DC servo motors, and (2) brakes filled with magnetorheological fluid. The glove with MR-brakes is lighter and simpler than the one with motors. However, the glove with motors enabled much faster task completion times.

Sign in / Sign up

Export Citation Format

Share Document