Wheelchair prototype controlled by position, speed and orientation using head movement

Aura Ximena González-Cely; Mauro Callejas-Cuervo; Teodiano Bastos-Filho

doi:10.1016/j.ohx.2022.e00306

Wheelchair prototype controlled by position, speed and orientation using head movement

HardwareX. 2022 Apr 14:11:e00306. doi: 10.1016/j.ohx.2022.e00306. eCollection 2022 Apr.

Authors

Aura Ximena González-Cely¹, Mauro Callejas-Cuervo², Teodiano Bastos-Filho¹

Affiliations

¹ Postgraduate Program in Electrical Engineering, Federal University of Esṕırito Santo, Av. Fernando Ferrari, 514, Vitoria 29075-910, Brazil.
² Software Research Group, Universidad Pedaǵogica y Tecnoĺogica de Colombia, Av. Central del Norte 39- 115, Tunja 150001, Colombia.

Abstract

A prototype that simulates a wheelchair was built using electronic commercial devices and software implementation with the aim to operate the prototype using head movement and analyzing the system response. The controllers were simulated using MATLAB® toolbox and Python™ libraries. The mean time response of the system with manual control was 37,8 s. The mean orientation control response with constant speed was 36,5 s and the mean orientation control response with variable speed was 44,2 s in a specific route. The variable speed response is slower than constant speed due to head motion error. The system was rated such as" very good" by 10 participants using a System Usability Scale (SUS).

Keywords: Fuzzy logic control; Head motion; Inertial Measurement Unit (IMU); Wheelchair prototype; Wireless.