Brown, Karl Walter
(2007)
Electric Powered Wheelchair Control with a Variable Compliance Joystick: Improving Control of Mobility Devices for Individuals with Multiple Sclerosis.
Master's Thesis, University of Pittsburgh.
(Unpublished)
Abstract
While technological developments over the past several decades have greatly enhanced the lives of people with mobility impairments, between 10 and 40 percent of clients who desired powered mobility found it very difficult to operate electric powered wheelchairs (EPWs) safely because of sensory impairments, poor motor function, or cognitive deficits [1]. The aim of this research is to improve control of personalized mobility for those with multiple sclerosis (MS) by examining isometric and movement joystick interfaces with customizable algorithms. A variable compliance joystick (VCJ) with tuning software was designed and built to provide a single platform for isometric and movement, or compliant, interfaces with enhanced programming capabilities.The VCJ with three different algorithms (basic, personalized, personalized with fatigue adaptation) was evaluated with four subjects with MS (mean age 58.7±5.0 yrs; years since diagnosis 28.2±16.1 yrs) in a virtual environment. A randomized, two-group, repeated-measures experimental design was used, where two subjects used the VCJ in isometric mode and two in compliant mode.While still too early to draw conclusions about the performance of the joystick interfaces and algorithms, the VCJ was a functional platform for collecting information. Inspection of the data shows that the learning curve may be long for this system. Also, while subjects may have low trial times, low times could be related to more deviation from the target path.
Share
| Citation/Export: |
|
| Social Networking: |
|
Details
| Item Type: |
University of Pittsburgh ETD
|
| Status: |
Unpublished |
| Creators/Authors: |
|
| ETD Committee: |
|
| Date: |
24 April 2007 |
| Date Type: |
Completion |
| Defense Date: |
19 December 2006 |
| Approval Date: |
24 April 2007 |
| Submission Date: |
27 February 2007 |
| Access Restriction: |
No restriction; Release the ETD for access worldwide immediately. |
| Institution: |
University of Pittsburgh |
| Schools and Programs: |
School of Health and Rehabilitation Sciences > Health and Rehabilitation Sciences |
| Degree: |
MS - Master of Science |
| Thesis Type: |
Master's Thesis |
| Refereed: |
Yes |
| Uncontrolled Keywords: |
control enhancer; control interface; fatigue; human-machine interface; isometric joystick; position sensing joystick; simulation; tremor; validation; virtual reality; weighted Fourier linear combiner; WFLC |
| Other ID: |
http://etd.library.pitt.edu/ETD/available/etd-02272007-111302/, etd-02272007-111302 |
| Date Deposited: |
10 Nov 2011 19:31 |
| Last Modified: |
15 Nov 2016 13:36 |
| URI: |
http://d-scholarship.pitt.edu/id/eprint/6412 |
Metrics
Monthly Views for the past 3 years
Plum Analytics
Actions (login required)
 |
View Item |
![[feed]](/images/feed-icon-32x32.png){kind=icon}