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WO2007120099A1 - Dispositif de commande a tablette permettant de commander un fauteuil roulant - Google Patents

Dispositif de commande a tablette permettant de commander un fauteuil roulant Download PDF

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Publication number
WO2007120099A1
WO2007120099A1 PCT/SE2007/000351 SE2007000351W WO2007120099A1 WO 2007120099 A1 WO2007120099 A1 WO 2007120099A1 SE 2007000351 W SE2007000351 W SE 2007000351W WO 2007120099 A1 WO2007120099 A1 WO 2007120099A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
wheelchair
tablet control
tablet
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2007/000351
Other languages
English (en)
Inventor
Hans Fraeyman
Victor Claes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Permobil AB
Original Assignee
Permobil AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Permobil AB filed Critical Permobil AB
Publication of WO2007120099A1 publication Critical patent/WO2007120099A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1094—Tables, working plates or trays
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/042—Front wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/16—Touchpads
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the field of wheelchairs, and in particular to improved means for controlling a wheelchair. Further, the invention relates to a wheelchair comprising such improved control means .
  • a tablet control device for controlling a wheelchair.
  • the tablet control device comprises a casing mountable to the wheelchair and having an upper surface.
  • the tablet control device comprises a number of capacitive sensors arranged within the casing for sensing the position of an object placed on the upper surface.
  • a central processing unit is arranged to obtain information from the sensors and execute in dependence thereon a desired control operation for controlling the operation of the wheelchair.
  • capacitive sensors By utilising capacitive sensors a high accuracy of the position of the object, such as a hand or finger, is obtained. Further, capacitive sensors can measure and image objects without the object touching the surface.
  • the tablet control device further comprises means for controlling peripheral equipment, such as a robot arm mounted to the wheelchair or remote devices such as a computer or the like.
  • the tablet control device may also comprise means for controlling the backrest or headrest or the like of the wheelchair.
  • Figure 1 shows, in a front view, an embodiment of the control device in accordance with the invention.
  • Figure 2 shows, in a view from below, the control device according to an embodiment of the invention.
  • Figure 3 illustrates an arrangement of sensors S 1 in a control device in accordance with the invention.
  • Figure 4 illustrates a layout of an exemplary set-up overlay to be used in the control device in accordance with the invention.
  • Figure 5 shows a stacked PCB configuration within a control device in accordance with the invention.
  • Figure 6 illustrates a control device in accordance with the invention mounted on a wheelchair.
  • Figure 7 illustrates in an exploded view the constituent parts of the control device in accordance with the invention.
  • Figures 8a-8g illustrate schematically software design for an input task.
  • control device In designing a control device in accordance with the present invention, a number of limitations and specifications were taken into account. The aim was to provide an improved control device for controlling a wheelchair or the like making it suitable for a plurality of different user groups.
  • the position of a user's hand on a control device surface should be measured or captured in an improved way for achieving the above mentioned goal of enabling different user groups to use the control device.
  • the position of the hand or any body part on a surface should be determined. In the following description it is assumed that a hand is to be used for the control operations, but any other body part could be used as well.
  • the position of the hand should be determined irrespective of how the hand is held. That is, the user should be able to hold his hand in any desired position, for example flat or clenched fist or upside down.
  • the output of the control device should preferably be fully proportional to the distance travelled by the hand. That is, moving the hand a certain distance on the surface should result in that the wheelchair increases its speed some corresponding amount.
  • the distance travelled could be semi-proportional to the distance.
  • the origin is preferably defined as the location where the hand first touches the surface of the control device. The origin should therefore be variable and dependent on the first contact of the hand with the surface of the control device.
  • the required activation force to be applied to the surface of the control device should be very small or even zero. Just cursorily touching the surface should be enough to activate the control device.
  • control device should be very durable and strong because of the high impacts it may be subjected to and has to withstand if used by a spastic user. Further, since the control device is arranged on a wheelchair it should withstand any weather condition.
  • the control device has to comply with Harmonised standards applicable for wheelchair control systems.
  • Harmonised standards applicable for wheelchair control systems.
  • the inventors of the present invention have pinpointed and realised one way to improve the controlling of a wheelchair and make it suitable for a wide range of users. More specifically, the inventors have realised that there are very favourable advantages to be obtained in utilising a different kind of sensors than presently used within wheelchair control devices.
  • the control device is a tablet control device, denoted simply “control device” in the following.
  • the control device 1 comprises a casing 2 having an upper part and a lower part and is, for example, made of plastic or some other durable material.
  • the control device 1 is preferably square-shaped, but any other shape is conceivable, for example a circular or semicircular shape.
  • the upper surface 3 of the control device 1 is preferably flat, since a flat surface is most comfortable for a user and enables an uncomplicated arrangement of the sensors to be used (to be described below) .
  • the control device 1 further comprises a central processor (not shown) for processing, among other things, input signals.
  • Figure 2 shows the control device of the previous figure from a view underneath.
  • the lower surface of the control device 1 is designed so as to enable a suitable and secure mounting to a wheelchair.
  • fastening means 4, 5, 6 are included for fastening the control device 1 to the wheelchair in a most secure manner.
  • the sensors used are of an electrically sensitive type, that is, of a capacitive type.
  • Capacitive sensors must be affected with a conductive device, such as a hand or a finger, unlike resistive and surface wave panels that can use anything that can point, such as a finger or stylus.
  • the upper surface 3 of the control device 1 is thus a capacitive touch sensitive surface.
  • the capacitive sensor to be used within the control device 1 could be of a type that can measure the distance to an object, or of a type that can detect when an object is close enough.
  • a user having a severely lowered strength can thereby use the control device 1 even without actually touching it.
  • the capacitive sensors can measure and image objects without the object touching the surface, they are very suitable for use in controlling a wheelchair, especially for persons having lowered strength. For example, when a hand is used for controlling the wheelchair, only fractions of the hand will actually be in direct contact with the surface, while the rest of the hand will be close to the surface. Despite of this lack of contact, an image of the whole hand can be provided.
  • switched-capacitance sensing or charge-transfer sensing uses electronic switches to charge a sense plate of unknown capacitance to a known potential, and transfer the resulting charge into a measurement circuit. By measuring the charge after one or more charge-and-transfer cycles, the capacitance of the sense plate can be determined.
  • the charge-transfer-acquisition process is carried out in burst mode using microprocessor-controlled switching of MOSFET transistors. This makes it possible to monitor small changes in capacitance to determine if something has approached or touched the sensing surface.
  • QT technology is more stable and more accurate than other types of capacitive sensing.
  • the upper surface 3 may consist of a number of contact surfaces, also called . keys, in the following denoted sensors.
  • Each key consists of two electrodes, one pulse driven electrode and one charge-receiving electrode. Charge is pumped from one electrode to the other and disturbances in the amount of charge received are detected and used for detecting touches. That is, each key can be considered as a contact, which will switch (close) if a conductive object comes close enough to the surface 3. No actual contact is thus necessary.
  • the electrodes could be arranged in rows and columns. For example, 10 electrode lines arranged along the x-axis overlying 10 electrode lines arranged along the y- axis would provide 100 possible keys for use.
  • Figure 3 illustrates the control device 1 of figure 1 with the upper part of the casing 2 removed.
  • a number of sensors S 1 i.e. within the control device 1 .
  • Any number of sensors can be used, and in the figure only a few sensors are shown.
  • the number of sensors S 1 included within the control device 1 determines how well the control device 1 is able to read the image of the hand. That is, the number of sensors S 1 defines the accuracy of the control device 1.
  • an array of at least 12 by 10 sensors should be used, i.e. a total of 120 sensors. In order to provide a higher accuracy, a higher number of sensors could be used, for example 16 by 12 (192 in total).
  • 192 sensors are used. The number chosen is based on test performed for different layouts and it has been found that there is a trade-off at 192 sensors. More sensors just increase the price but without essentially improving the drive performance and less sensors caused lower drive performance.
  • the capacitive sensors are of the above-described switched type, since switched sensors are less sensitive to environmental conditions than other types of capacitive sensors making it suitable for outdoor use.
  • switched sensors an image of the hand on the surface 3 is provided, as is described more in detail later.
  • control device 1 is preferably square-shaped.
  • the size of the surface of the control device should be chosen in consideration of the different types of users. On the other hand, the size of the surface should not be unnecessarily large, thereby keeping the space requirements and costs at a minimum.
  • An adequate size is between about 200 mm and 250 mm in one direction and between about 275 mm and 325 mm in the other direction.
  • the invention is not limited to the sizes indicated, and specific user groups could be addressed and for them a larger or smaller surface could be more suitable. Control devices having surfaces of any size is conceivable.
  • the thickness and weight of the control device should also be adequately chosen.
  • the control device should be suitable for being built into the table of a wheelchair, and should therefore not be too heavy. As an example, the weight should be less than 1 kg and an adequate thickness is 35 mm or less.
  • QT60486 is integrated electronic circuits available on the market, which integrate several capacitive sensors into one package.
  • the QT60486 has a total of 48 sensors, and in an embodiment of the invention four such integrated circuits were utilised, giving a total number of 192 sensors. This provides a very satisfactory accuracy and reliable controlling of the wheelchair.
  • the QT60486 circuit is only an exemplary device; other types of capacitive sensors could be used.
  • a central processing unit (not shown), in the following simply "central processor", communicates with all the sensors or sets of sensors.
  • the central processor is connected to the electronics of the sense array by means of a serial communication protocol.
  • the main processor can read every sensor separately and preferably does this with a regular interval. From that information, software in the processor will create a bitmap image of the body part or device used to control the wheelchair that is close enough to the sensors.
  • the processor is also connected to one or two additional external push buttons. These buttons can be used to improve safety of the system, for example used as an emergency switch, or add additional user interface possibilities. If an additional button is used as an emergency stop, the wheelchair is arranged to stop whenever the button is pressed.
  • the processor also prepares drive signals based on the signals from the sensors.
  • the drive signals are then sent to the wheelchair in order to control it.
  • An exemplary processor suitable for use in the control device is Atmel AVR series.
  • the communication between the central processor and the sensors is performed over a digital communication bus.
  • Software in the main processor will determine the shape and size of the hand and calculate the output signals.
  • predefined parameters such as rotation/mirror axis and amplification, are taken into account.
  • a left/right amplification, or X amplification can be a parameter that can be set.
  • the distance between a locked neutral point and a mass point, along the x-axis can provide the maximum driving speed of the wheelchair.
  • the higher the x- amplification value the faster the maximum driving speed is reached, in the x-direction. Two sequential speed steps thus have more impact on the driving speed when the amplification value is increased.
  • a corresponding y-amplification can be provided.
  • calibration data, data collected during the production are also taken into account.
  • control device in a preferred embodiment, is used for controlling a wheelchair, it is realised that the control device is safety critical. All necessary measures must be taken to make the device as safe as possible.
  • control device should be compatible with several types of wheelchair electronics, such as DX, PILOT+ and Easy Rider.
  • Any other communication bus standard can of course be used, for example USB (universal serial bus).
  • a built-in set-up is provided so that the control device can easily be reconfigured according to the specific needs of the user.
  • This set-up is preferably done without the need to connect the control device to an external device, such as a programmer or computer.
  • Some of the reconfigurable parameters of the set-up include: rotation and mirroring of the output signals (x-axis and y-axis of the control device); separate setting of the amplification of the x-axis and y-axis (this will set the relation between the output of the control device); and the distance travelled by the hand; sensitivity of the sensors, etc.
  • the output of the control device should preferably be fully proportional to the distance travelled by the hand. That is, moving the hand a certain distance on the surface should result in that the wheelchair increases its speed some corresponding amount. Alternatively, the distance travelled could be semi-proportional to the distance. The further the hand is moved from the origin, the faster the wheelchair will drive. The origin should therefore be variable and dependent on the first contact of the hand with the surface of the control device. In some wheelchairs separate input devices are used for controlling the speed and for controlling the direction. The controlling of speed and direction can be performed in conventional manner.
  • the software used in the control device must be secure, flexible and easy to understand. It should support a production mode and the control device is then connected to a PC. It is then possible to automatically test and calibrate the hardware. All calibrate data is stored in an
  • EEPROM Electrically-Erasable Programmable Read-only Memory
  • the software should support an end-user set-up mode. That is, a mode in which the user can easily change some parameters in dependence on his or hers special needs, or simply select the production default settings. Entering the set-up mode should be as easy as possible, involving a minimum of steps. For example, by pushing a special set-up button at the backside of the control device while switching on the control device, the system is put into set-up mode.
  • An overlay is used, and placed on top of the device.
  • An exemplary layout of an overlay for the set-up is shown in figure 4.
  • the user can easily and quickly make the desired changes. Switching off the device will result in leaving the set-up mode, although other arrangements for switching between different modes are conceivable.
  • the overlay shown in figure 4 is only an example of a possible overlay.
  • the layout can of course be changed in accordance with the functions provided by the software .
  • the sensors S 1 are arranged on an upper PCB (Printed Circuit Board) 7 a , as is illustrated in figure 5.
  • the second, lower PCB 7 b comprises all such active electronics.
  • This stacked PCB configuration is preferred in order to minimize possible disturbances on the sensors S 1 ,..., S n from the active electronics. That is, there should be sufficient distance between the sensors and the active electronics in order for the sensors to provide an accurate and reliable measurement. Also in view of minimizing the size of the PCB, the above- described solution is preferred. However, a solution with a single PCB is conceivable, provided the arrangement of the sensors and the active electronics and connection lines can be made in an adequate manner.
  • the control device has an active mode and a standby mode.
  • the control device When the hand of a user has not been in contact with the surface for a predefined time, the control device preferably enters a standby mode.
  • the standby mode should not be entered immediately upon the lifting of a hand, i.e. the predefined time should not be set to zero, because a user having spastic movements may unintentionally lift his or hers hand for a very short duration.
  • the control device in accordance with the invention is thereby suitable for a wide variety of users.
  • the standby mode when the hand touches the surface of the control device and has been sufficiently stable for a second predefined time, the current position of the hand is registered as the origin and thereafter the control device enters an active mode.
  • control device should enter a safe mode. In the safe mode the output will return to neutral causing the wheelchair to stop.
  • Figure 6 illustrates the control device 1 in accordance with the invention in use, i.e. mounted on a wheelchair 10.
  • the control device 1 In the figure the most preferred placement of the control device 1 is shown. However, other placements of the control device 1 are of course conceivable. For example, it could be mounted on one of the armrests 11, 12, and bent outwards. For a right-handed user, the control device 1 should thus preferably be mounted on the right-hand armrest 11. If another part of the body is to be used in the steering of the wheelchair 10, for example a foot, the control device 1 is placed accordingly.
  • Figure 7 illustrates in an exploded view the constituent parts of the control device 1.
  • Upper and lower sides of the casing 2 enclose the core of the control device, i.e. the sensors and electronics.
  • figures 8a-8g illustrate schematically an exemplary software design for an input task.
  • the keys are read and the values stored in a bitmap in a memory of the processor.
  • Software manipulations on that bitmap are performed and the processor calculates a drive signal for an output task.
  • keys that have detected a presence of a hand or the like are marked with an X.
  • a minimum number of touched keys may be set, so that if less keys than the set number are touched this is interpreted as no object (e.g. body part) is touching the surface.
  • the uppermost touched line is determined ( shaded area ) , i.e. the uppermost active line .
  • the number of active lines can be a parameter setting the number of horizontal key lines, which defines an active window.
  • the parameter can be used to disable the influence of touched keys beneath the active window in the mass point calculation, which may be caused by for example an arm.
  • the mass point is used as reference point. If the mass point M is held for a sufficient time, which could be a suitably set time, the mass point M will be locked as the actual neutral point N.
  • This feature is particularly advantageous in view of users having spastic movements.
  • control device 1 is compatible with a computer input, and the control device that is used in order to control a wheelchair 10 may also be used in order to control a computer.
  • the tablet control device 1 comprises means for controlling accessories, peripheral equipment or surrounding equipment. That is, the tablet control device 1 is used not only for controlling or driving the wheelchair 10, but also peripheral devices such as for example an environmental control systems such as air conditioning, seat adjustment of the wheelchair, information systems, infotainment systems, a robot arm connected to the wheelchair, a computer etc.
  • the peripheral equipment may thus be controlled remotely from the same tablet control device 1 that is used for controlling the movements of the wheelchair 10. Peripheral devices mounted to the wheelchair 10 may also be controlled in this way.
  • the tablet control device 1 is used for controlling a robot arm mounted on the wheelchair 10. Such robot arm could be used for assisting the user in reaching objects otherwise out of reach of the user.
  • the tablet control device 1 could also be used for adjusting the backrest, headrest, footrest, armrest, rear view mirrors or the like of the wheelchair.
  • the tablet control device 1 comprises a Bluetooth device or an IR (infrared) device or some other short-range communication means for transmitting and receiving information from another device comprising corresponding short-range communication means.
  • the tablet control device 1 can be used for inquiring information from a thermometer and displaying the information on a display of the wheelchair 10. It is to be noted that it is also conceivable to include means for long-range communication means.
  • Means such as a button, for causing the wheelchair electronics to switch from controlling the movements of the wheelchair 10 to controlling peripheral equipment could be added to the tablet control device 1. Further, if remote devices are to be controlled, then also suitable communication means should be added, such as Bluetooth devices .

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • User Interface Of Digital Computer (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif (1) de commande à tablette permettant de commander un fauteuil roulant (10). Le dispositif (1) de commande à tablette comprend un boîtier (2) susceptible d'être monté sur le fauteuil roulant (10) et présentant une surface supérieure (3). Le dispositif (1) de commande à tablette comprend en outre un certain nombre de capteurs capacitifs (S1,…,Sn) disposés à l'intérieur du boîtier (2) en vue de détecter la position d'un objet placé sur la surface supérieure (3). Une unité centrale de traitement est conçue pour obtenir des informations auprès des capteurs (S1,…,Sn) et exécuter, en fonction de celles-ci, une opération de commande souhaitée permettant de commander le fonctionnement du fauteuil roulant (10).
PCT/SE2007/000351 2006-04-13 2007-04-13 Dispositif de commande a tablette permettant de commander un fauteuil roulant Ceased WO2007120099A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0600839-5 2006-04-13
SE0600839A SE0600839L (sv) 2006-04-13 2006-04-13 Styranordningsplatta

Publications (1)

Publication Number Publication Date
WO2007120099A1 true WO2007120099A1 (fr) 2007-10-25

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Application Number Title Priority Date Filing Date
PCT/SE2007/000351 Ceased WO2007120099A1 (fr) 2006-04-13 2007-04-13 Dispositif de commande a tablette permettant de commander un fauteuil roulant

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SE (1) SE0600839L (fr)
WO (1) WO2007120099A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016110557A1 (fr) * 2015-01-08 2016-07-14 Tks A/S Commande de fauteuil roulant motorisé
TWI643609B (zh) * 2016-09-09 2018-12-11 財團法人工業技術研究院 電動輪椅、其控制方法及其控制系統
WO2019030778A1 (fr) * 2017-08-11 2019-02-14 Indent Designs Private Limited Ensemble fauteuil roulant électrique conçu pour être manœuvré sur un terrain inégal
US10744048B2 (en) 2018-04-09 2020-08-18 Toyota Motor North America, Inc. Wheelchair apparatuses including usage features
US12204687B2 (en) 2023-04-11 2025-01-21 Jay Curtis Beavers Systems, methods, and techniques for safely controlling devices using eye gaze control
US12226330B2 (en) 2020-10-07 2025-02-18 Jay Curtis Beavers Systems, methods, and techniques for eye gaze control of seat and bed positioning

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4323829A (en) * 1980-07-28 1982-04-06 Barry M. Fish Capacitive sensor control system
US4767940A (en) * 1987-10-02 1988-08-30 Peachtree Patient Center, Inc. Electronic sensing and control circuit
WO2001026599A1 (fr) * 1999-10-12 2001-04-19 Invacare Corporation Fauteuil roulant possedant un dispositif de telecommande de vitesse et de direction
US6424338B1 (en) * 1999-09-30 2002-07-23 Gateway, Inc. Speed zone touchpad

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4323829A (en) * 1980-07-28 1982-04-06 Barry M. Fish Capacitive sensor control system
US4767940A (en) * 1987-10-02 1988-08-30 Peachtree Patient Center, Inc. Electronic sensing and control circuit
US6424338B1 (en) * 1999-09-30 2002-07-23 Gateway, Inc. Speed zone touchpad
WO2001026599A1 (fr) * 1999-10-12 2001-04-19 Invacare Corporation Fauteuil roulant possedant un dispositif de telecommande de vitesse et de direction

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016110557A1 (fr) * 2015-01-08 2016-07-14 Tks A/S Commande de fauteuil roulant motorisé
TWI643609B (zh) * 2016-09-09 2018-12-11 財團法人工業技術研究院 電動輪椅、其控制方法及其控制系統
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