Evaluation of 2D-/3D-Feet-Detection Methods for Semi-Autonomous Powered Wheelchair Navigation

Powered wheelchairs have enhanced the mobility and quality of life of people with special needs. The next step in the development of powered wheelchairs is to incorporate sensors and electronic systems for new control applications and capabilities to improve their usability and the safety of their operation, such as obstacle avoidance or autonomous driving. However, autonomous powered wheelchairs require safe navigation in different environments and scenarios, making their development complex. In our research, we propose, instead, to develop contactless control for powered wheelchairs where the position of the caregiver is used as a control reference. Hence, we used a depth camera to recognize the caregiver and measure at the same time their relative distance from the powered wheelchair. In this paper, we compared two different approaches for real-time object recognition using a 3DHOG hand-crafted object descriptor based on a 3D extension of the histogram of oriented gradients (HOG) and a convolutional neural network based on YOLOv4-Tiny. To evaluate both approaches, we constructed Miun-Feet—a custom dataset of images of labeled caregiver’s feet in different scenarios, with backgrounds, objects, and lighting conditions. The experimental results showed that the YOLOv4-Tiny approach outperformed 3DHOG in all the analyzed cases. In addition, the results showed that the recognition accuracy was not improved using the depth channel, enabling the use of a monocular RGB camera only instead of a depth camera and reducing the computational cost and heat dissipation limitations. Hence, the paper proposes an additional method to compute the caregiver’s distance and angle from the Powered Wheelchair (PW) using only the RGB data. This work shows that it is feasible to use the location of the caregiver’s feet as a control signal for the control of a powered wheelchair and that it is possible to use a monocular RGB camera to compute their relative positions.

Pediatric Powered Mobility Training: Powered Wheelchair Versus Simulator-Based Practice

Background: Many children with physical disabilities lack independent mobility. Powered wheelchair mobility can be a viable option, but users must be proficient drivers to ensure safety. To become a proficient driver, children need opportunities to practice. As is often the case, powered wheelchairs are scarce and direct therapy hours dedicated to powered mobility are often limited. Alternative options are needed to enable safe, unsupervised practice. Simulator-based learning has been shown to be an effective training method for powered mobility and other skill-based tasks for adults. The goal of this study was to compare two training methods of powered mobility, powered wheelchair practice (control group) versus simulator-based (experimental group) practice to determine whether simulation is a feasible and effective method for children and adolescents. The hypothesis was that children practicing on either modality at home supervised by a caregiver would similarly improve their powered mobility skills. Method: Participants included 36 children and adolescents (23 males, 13 females) with cerebral palsy and neuromuscular diseases, aged 6-18 years (mean age: 10 y, 7 mo, SD: 3y, 7 mo). Data were collected and compared at baseline and after 12 weeks of home based practice of powered mobility via a powered wheelchair or a simulator. Thirty participants completed the study and were included in the analysis Powered mobility ability was determined by the Powered Mobility Program (PMP), the Israeli Ministry of Health’s Powered Mobility Proficiency Test (PM-PT) and the Assessment of Learning Powered Mobility use (ALP). Participants (21/30) were interviewed after study completion by an independent researcher concerning the child’s and parent’s experiences regarding practice time and user experience (e.g., satisfaction with training program, views of its importance). Results: Both the powered wheelchair and simulator-based practice groups achieved significant improvement following the practice period as assessed by the PMP and PM-PT assessments, with no significant difference between them. A significant improvement was found in the ALP assessment outcomes for the powered wheelchair group only. All participants practiced for the required amount of time and both groups reported a similar user experience. Conclusions: The results demonstrate that simulator-based practice is an effective training option for powered mobility for children aged 6-18 years old with physical disabilities. Simulator-based practice can provide a safe environment to practice driving skills that could endanger the child (e.g., out of doors). This is the first study, to our knowledge, that compares two different wheelchair training methods. Trial Registration: The study protocol for this clinical trial was registered at ClinicalTrials.gov under the ID NCT04531488 and the title “ Simulator Based Powered Mobility Training of Children With Special Needs ”(Protocol ID: 004-17, URL: https://rb.gy/dfeslr).

SWADAPT1: assessment of an electric wheelchair-driving robotic module in standardized circuits: a prospective, controlled repeated measure design pilot study

Objectives The objective of this study is to highlight the effect of a robotic driver assistance module of powered wheelchair (PWC), using infrared sensors and accessorizing a commercial wheelchair) on the reduction of the number of collisions in standardized circuit in a population with neurological disorders by comparing driving performance with and without assistance. Methods This is a prospective, single-center, controlled, repeated measure design, single-blind pilot study including patients with neurological disabilities who are usual drivers of electric wheelchairs. The main criterion for evaluating the device is the number of collisions with and without the assistance of a prototype anti-collision system on three circuits of increasing complexity. Travel times, cognitive load, driving performance, and user satisfaction are also analyzed. Results 23 Patients, 11 women and 12 men with a mean age of 48 years old completed the study. There was a statistically significant reduction in the number of collisions on the most complex circuit: 61% experienced collisions without assistance versus 39% with assistance (p = 0.038). Conclusion This study concludes that the PWC driving assistance module is efficient in terms of safety without reducing the speed of movement in a population of people with disabilities who are habitual wheelchair drivers. The prospects are therefore to conduct tests on a target population with driving failure or difficulty who could benefit from this device so as to allow them to travel independently and safely.

SOLAR ELECTRIC WHEELCHAIR WITH A FOLDABLE PANEL

For physically challenged individuals the most basic expression of freedom would be the ability to be mobile. Modern medical science being highly advanced designed a device of help for physically challenged individuals, called the wheelchair. The market provides a vast assortment of options in a wheelchair to fulfill the desired need and requirements of the consumer. To make the system energy efficient we have designed a solar wheelchair in which solar power is used. This keen wheelchair is additionally fitted with a leg guard for the safety of the legs. In addition, we have added a mechanism that allows our solar panel to fold and settle at a safe place, or in other terms, Solar Wheelchair with a foldable panel. All our effort has been in the direction, to make this solar-induced wheelchair at an affordable cost along with having an optimal utilization in the external as well as the internal environment. KEYWORDS: Assistive device, Electric mode, Foldable solar panel, Solar Powered Wheelchair.