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WO2016110557A1 - Commande de fauteuil roulant motorisé - Google Patents

Commande de fauteuil roulant motorisé Download PDF

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Publication number
WO2016110557A1
WO2016110557A1 PCT/EP2016/050247 EP2016050247W WO2016110557A1 WO 2016110557 A1 WO2016110557 A1 WO 2016110557A1 EP 2016050247 W EP2016050247 W EP 2016050247W WO 2016110557 A1 WO2016110557 A1 WO 2016110557A1
Authority
WO
WIPO (PCT)
Prior art keywords
touch
input
processing unit
wheelchair
sensitive area
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/EP2016/050247
Other languages
English (en)
Inventor
Gert SPENDER-ANDERSEN
Søren MØRCH
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.)
TKS AS
Original Assignee
TKS AS
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 TKS AS filed Critical TKS AS
Priority to EP16700403.5A priority Critical patent/EP3242646A1/fr
Publication of WO2016110557A1 publication Critical patent/WO2016110557A1/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
    • A61G5/04—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
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G2203/12—Remote controls
    • 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

Definitions

  • the present invention relates to a control system for a motorized wheelchair and a method for controlling a motorized wheelchair.
  • the interaction with external aids may be very important for persons with movement disabilities; as such external aids may assist the persons in living on a self-supportive independent basis and may have a huge impact on their quality of life.
  • breath controlled wheelchairs There exists a vast amount of assistive technologies that may be used to improve the quality of life for persons with impairments to the motoric system, such as breath controlled wheelchairs, for persons that have very limited motoric skills, such as tetraplegics that have lost their motoric skills in their torso, legs and arms.
  • breath controlled wheelchairs may have a relative small input range, which means that the breath control can only be used in a limited manner, and may only be used to control simple functions.
  • a control system for a motorized wheelchair comprising: a touch sensor providing a touch-sensitive area for sensing input through a body limb making contact with the touch-sensitive area; and a processing unit, which is arranged to receive an input signal from the touch sensor, said input signal comprising an input position on which contact by the body limb with the touch- sensitive area is detected, wherein the processing unit is further arranged to convert the input signal to speed and direction information based on the input position and to transmit a control signal comprising the speed and direction information for controlling driving of the motorized wheelchair; wherein the processing unit is further arranged to receive a stop signal in response to a body limb releasing contact with the touch-sensitive area or a plurality of body limbs making contact with the touch-sensitive area.
  • a method for controlling a motorized wheelchair comprising:
  • a computer program product comprising computer code instructions for performing the method according to second aspect when run on an apparatus having processing capability.
  • a touch-sensitive area for enabling a user to provide input through a touch interface.
  • the user may thus control the motorized wheelchair by means of a body limb in contact with the touch-sensitive area.
  • This allows a user interface to be provided with more advanced functionalities than possible via e.g. breath control.
  • the motorized wheelchair may be quickly brought to a halt allowing persons with impairments to the motoric system to be able to safely drive the wheelchair.
  • a stop signal may be generated as soon as a body limb releases contact with the touch-sensitive area or a plurality of body limbs make contact with the touch-sensitive area.
  • body limb should be construed as any part of an arm or a leg that may be used to control the wheelchair, such as a finger, a toe or an elbow.
  • the received stop signal comprises an input position corresponding to a neutral point.
  • the motorized wheelchair may be provided with a drive unit receiving input from a control input installed on the wheelchair, such as a joystick for controlling driving of the wheelchair.
  • the control system according to the invention may be connected to the existing drive unit providing input similar to the input provided by the joystick.
  • a stop signal may be provided as an input position corresponding to the joystick being brought to a neutral point.
  • the touch sensor is embedded in a touch screen, such as a touch screen of a smart phone, providing a display for presenting information to a user.
  • a touch screen such as a touch screen of a smart phone
  • providing a display for presenting information to a user This implies that a user may receive information relevant to the controlling of the wheelchair on the touch screen.
  • the information presented to the user may be dynamically changed, whereby the user interface allows for advanced interaction with the user.
  • the touch screen of a smart phone is used and the smart phone may be provided with an application specially adapted for controlling the motorized wheelchair.
  • a user may typically carry a mobile phone in order to be able to make phone calls, communicate through text messages, etc.
  • the user may be able to make use of the mobile phone also for the driving of the wheelchair.
  • the touch sensor may provide an input interface for receiving touch input in order to control further functions of the motorized wheelchair, such as adjustment of seat up or down, backrest up or down, complete chair up or down.
  • the user may be able to control the wheelchair exclusively via the touch sensor providing both control of the driving of the wheelchair and controlling settings of the wheelchair.
  • the processing unit being arranged to convert the input signal to speed and direction information makes use of an algorithm for promoting maintaining of a forward direction of the wheelchair.
  • the processing unit may help the user in driving the wheelchair in a forward direction, such that constant small adjustments of the direction of the wheelchair may be avoided when the user desires to drive the wheelchair forward.
  • a neutral point is defined on the touch-sensitive area
  • speed information is dependent of a distance from the neutral point
  • direction information is dependent of the relation of the input position in a coordinate system to the neutral point
  • said algorithm defines a forward area extending from the neutral point, being centered around an axis corresponding to a straight forward direction and having an increasing width along the axis away from the neutral point, such as the forward area being V-shaped
  • the processing unit is arranged to convert the input signal comprising an input position within the forward area to a straight forward direction.
  • the processing unit is further arranged to monitor correctness of the input signal and/or monitor
  • the processing unit is further arranged, in response to the monitoring detecting an incorrect input signal or the communication not functioning properly, to generate and transmit a safety action signal, wherein the safety action signal causes at least one of reducing speed of the wheelchair, setting a joystick control of the wheelchair into neutral position, and stopping the wheelchair completely.
  • the processing unit may be arranged to generate a safety action signal in response to detection of at least one of the following conditions: a time elapsed since last received input signal exceeding a threshold, a number of received input signals per time unit being below a threshold, the input signal comprising incorrect information, such as an invalid input position, a round- trip time of receipt of a response from a device comprising the touch sensor to a communication test packet transmitted by the processing unit exceeding a threshold or the response not being received within a predicted round-trip time, and a difference between a time stamp of an input signal and a current time of the processing unit exceeding a threshold.
  • Fig. 1 is a schematic view of a control system according to an embodiment of the invention.
  • Fig. 2 is a schematic view of a user interface presented on a screen.
  • a control system for a motorized wheelchair comprises a touch sensor providing a touch-sensitive area for sensing input through a body limb making contact with the touch-sensitive area.
  • the touch sensor may be embedded in a touch screen of a mobile phone, a personal computer (PC) or a tablet PC, as illustrated in Fig. 1.
  • a touch sensor may be provided as a separate touchpad, specifically adapted to receive touch input.
  • the touch sensor may operate in one of several ways, including a capacitive sensing and conductance sensing.
  • the most common technology used entails sensing the capacitive virtual ground effect of a finger or a body limb.
  • Capacitance-based touchpad's will however not sense the tip of a pencil or other similar implement. Gloved fingers may also be problematic to sense.
  • a processing unit may be arranged to receive an input signal from the touch sensor.
  • the processing unit may be arranged in the same physical unit, in which the touch sensor is arranged.
  • the processing unit may be implemented as a processing unit of a mobile phone, which provides a touch screen for receiving input from a user.
  • the processing unit may thus run an application, which receives the input signal from the touch screen of the mobile phone.
  • the processing unit may be arranged in a separate device, which receives an input signal from the touch sensor.
  • the separate device may thus be connected via a wire or through wireless communication to the touch sensor.
  • Bluetooth® communication may provide the input signal from a device in which the touch sensor is embedded, such as a mobile phone, to a control unit, providing the processing unit.
  • the control unit may be mounted on the wheelchair and may be connected through wires to electrical motor(s) for driving the wheelchair.
  • the control unit may be installed on a wheelchair having existing means for controlling the driving of the wheelchair, such as a joystick. The control unit may thus override, or complement, the input from the existing control means in order to enable control of the wheelchair through a touch interface.
  • control system may be installed on existing wheelchairs.
  • the control unit may mimic the input from the existing control means so as to provide appropriate control signals to the electrical motor(s) or to a unit that receives input from the existing control means.
  • the control unit may e.g. provide control signals corresponding to control by means of a joystick.
  • the processing unit may be arranged in several devices, such that the processing may partly occur in a device embedding the touch sensor, such as a mobile phone, and partly occur in another device, e.g. a control unit that may be mounted on the wheelchair.
  • the input signal to the processing unit may comprise an input position on which contact by the body limb with the touch-sensitive area is detected.
  • the processing unit may be further arranged to convert the input signal to speed and direction information based on the input position and to transmit a control signal comprising the speed and direction information for controlling driving of the motorized wheelchair.
  • a stop signal is generated.
  • the processing unit may receive a signal from the touch sensor that a limb has released contact or that a plurality of limbs makes contact. Such a signal may be interpreted as a stop signal.
  • processing unit may be arranged to transmit a control signal to immediately stop the driving of the wheelchair.
  • an application for receiving input from a user through a touch screen interface as shown in Fig. 2.
  • a user maneuvers the wheelchair on the touch screen with a finger, toe, hand or any body limb, the wheelchair will move as requested.
  • a finger, toe, hand or a body limb is removed from the touch screen, the wheelchair goes into stop.
  • the application may be built in to a smart phone device, a tablet or a computer and works via a touch screen.
  • the smart phone may be connected wirelessly to a control unit.
  • the control unit is then connected directly to a motorized wheelchair.
  • the smart phone can be placed in a holder or in a hand when the user is placed in the motorized wheelchair.
  • the touch screen area is defined so that it starts working out of a center area, and the further the body limb is moved from the center area, the higher speed will be provided by the wheelchair. Starting outside the center point will provide a higher starting speed.
  • the processing unit makes use of an algorithm that will ease the driving forward. This means that if the body limb of the user is sliding a little to the right or left, the wheelchair will continue driving straight forward.
  • the touch screen area can be located and scaled individually on the screen of the tablet or smart phone.
  • a control system providing a smart phone application for control of motorized wheelchairs may be especially advantageous for severely disabled persons.
  • Such persons may have some sensory/motoric signal transmission into their arms, where the persons may have some control of their hands or their fingers.
  • Such persons may often be assisted in their interaction with external components by arranging a touchpad, mouse, or similar touch based control input where the tips of the fingers may be used to provide control input.
  • a smart phone application gives the ability to provide an input to a touchpad by the use of a finger or a body limb.
  • a finger or body limb is then capable of registering the position on the smart phone device, and sends it to a control unit wirelessly.
  • the control unit converts the signals to the motorized wheelchair control interface, where they are converted to drive signals.
  • the motorized wheelchair is now driving according to the movement made by a finger or another body limb in the input area on the smart phone or a tablet.
  • the application allows disabled persons to provide a control input to an motorized wheelchair, via an interface that may be arranged in the finger or other body limb of the user.
  • the structure of the device, in using finger or other body limb of the user ensures that every movement of the smart phone application is registered by the control unit.
  • There are various advantages of using this smart phone application In existing systems today there are many stand alone systems.
  • the smart phone application on the other hand, allows a user to control the wheelchair in a single unit, where the user can speak on the phone, make a text message, write an email or even just go to the wheelchair application and start driving.
  • a forward area is defined as a V-shape.
  • the apex of the V-shape is at the crossing of the axes, i.e. at position 0, 0.
  • the size of the forward driving area then increases proportionally up to the end of the touch- sensitive area for controlling the wheelchair.
  • the algorithm will correct the imbalance of the finger position into the Y- axis in order to maintain a straight forward direction of the wheelchair.
  • the smart phone or tablet can take over the existing inputs on the motorized wheelchair, so that the only input for all functions of the wheelchair is provided by the smart phone or tablet.
  • the functions normally placed on a motorized wheelchair is seat up/down, back up/down, complete chair up/down etc. These functions can be built-in to the application.
  • the control system may further be arranged to provide safety algorithms for trigging a safety action, when a detection of an erroneous condition is made.
  • a safety action may be a reduction in speed, setting the joystick in neutral or stopping the wheelchair completely.
  • input device may be the touch sensor or a unit in which the touch sensor is embedded: 1.
  • the control unit monitors the time elapsed since the last received control input from the input device. If the elapsed time is too large the control unit makes a safety action.
  • the control unit counts the number of received (and correct) control inputs per second. If the rate is too low the control unit makes a safety action.
  • the control unit validates the control input from the input device for correctness. If something is deemed wrong (e.g. invalid
  • control unit rejects the control input and makes a safety action.
  • the control unit monitors the round-trip time (propagation delay) by sending packets with its own clock to the touch sensor.
  • the input device return the value unaltered back. If measured round-trip time (difference between current control unit clock and the received value) is too large, the control unit makes a safety action.
  • the control unit monitors the predicted round-trip time for covering the case when no round-trip time packets are received back.
  • the prediction is made by sending packets at a fixed rate, using the value of the last measured round-trip time and continuously reading the elapsed time since the last received packet. If predicted round- trip time is too large, the control unit makes a safety action.
  • the input device timestamps all control input to the control unit with its own clock.
  • the control unit and input device have at a prior stage synchronized their clocks using a common time
  • control unit rejects the control input and makes a safety action.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un système de commande destiné à un fauteuil roulant motorisé, ledit système de commande comprenant : un capteur tactile fournissant une zone tactile permettant de détecter une entrée par un membre du corps établissant un contact avec la zone tactile ; et une unité de traitement, qui est conçue pour recevoir un signal d'entrée à partir du capteur tactile, ladite unité de traitement étant en outre conçue pour convertir le signal d'entrée en informations de vitesse et de direction à partir d'une position d'entrée sur la zone tactile et pour émettre un signal de commande comprenant les informations de vitesse et de direction permettant de commander le déplacement du fauteuil roulant motorisé ; ladite unité de traitement étant en outre conçue pour recevoir un signal d'arrêt en réponse au fait qu'un membre du corps n'est plus en contact avec la zone tactile ou qu'une pluralité de membres du corps viennent en contact avec la zone tactile.
PCT/EP2016/050247 2015-01-08 2016-01-08 Commande de fauteuil roulant motorisé Ceased WO2016110557A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16700403.5A EP3242646A1 (fr) 2015-01-08 2016-01-08 Commande de fauteuil roulant motorisé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201500014 2015-01-08
DKPA201500014 2015-01-08

Publications (1)

Publication Number Publication Date
WO2016110557A1 true WO2016110557A1 (fr) 2016-07-14

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PCT/EP2016/050247 Ceased WO2016110557A1 (fr) 2015-01-08 2016-01-08 Commande de fauteuil roulant motorisé

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EP (1) EP3242646A1 (fr)
WO (1) WO2016110557A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017064668A1 (fr) * 2015-10-14 2017-04-20 Consejo Nacional De Investigaciones Cientificas Y Tecnicas (Conicet) Dispositif pour automatiser un fauteuil roulant électrique
CN106648114A (zh) * 2017-01-12 2017-05-10 长春大学 舌机交互模型及装置
WO2018055072A1 (fr) * 2016-09-23 2018-03-29 Tks A/S Conversion d'entrée d'utilisateur en commande de mouvement en fonction d'un profil d'utilisateur prédéfini
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
CN109481170A (zh) * 2017-09-11 2019-03-19 四川金瑞麒智能科学技术有限公司 一种轮椅控制系统、方法及计算机可读存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007120099A1 (fr) * 2006-04-13 2007-10-25 Permobil Ab Dispositif de commande a tablette permettant de commander un fauteuil roulant
US20140132082A1 (en) * 2012-11-14 2014-05-15 The Provost, Fellows, Foundation & Scholars, & The Other Members Of The Board, Of The College Control interface for a semi-autonomous vehicle
WO2014108136A1 (fr) * 2013-01-11 2014-07-17 Tks A/S Système d'entrée de commande

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007120099A1 (fr) * 2006-04-13 2007-10-25 Permobil Ab Dispositif de commande a tablette permettant de commander un fauteuil roulant
US20140132082A1 (en) * 2012-11-14 2014-05-15 The Provost, Fellows, Foundation & Scholars, & The Other Members Of The Board, Of The College Control interface for a semi-autonomous vehicle
WO2014108136A1 (fr) * 2013-01-11 2014-07-17 Tks A/S Système d'entrée de commande

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017064668A1 (fr) * 2015-10-14 2017-04-20 Consejo Nacional De Investigaciones Cientificas Y Tecnicas (Conicet) Dispositif pour automatiser un fauteuil roulant électrique
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
WO2018055072A1 (fr) * 2016-09-23 2018-03-29 Tks A/S Conversion d'entrée d'utilisateur en commande de mouvement en fonction d'un profil d'utilisateur prédéfini
CN106648114A (zh) * 2017-01-12 2017-05-10 长春大学 舌机交互模型及装置
CN106648114B (zh) * 2017-01-12 2023-11-14 长春大学 舌机交互模型及装置
CN109481170A (zh) * 2017-09-11 2019-03-19 四川金瑞麒智能科学技术有限公司 一种轮椅控制系统、方法及计算机可读存储介质

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