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Outline
Introduction Methods
Experimental Setup Subjects Data Collection Statistical Analysis
Results Conclusion
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Introduction
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Introduction
Approximately 220,000 Americans use electric powered wheelchairs (EPWs) for independent mobility.
An additional 125,000 Americans with disabilities desire power mobility but cannot functionally drive an EPW.
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Introduction
Isometric joysticks (IJs) rigid post : theoretically reduces the
amount of dexterity required for control Movement sensing joysticks (MSJs)
Isometric joysticks source : http://www.wheelchairnet.org/
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Introduction
Compared Human Engineering Research Laboratories (HERL) IJ with two control functions to a conventional MSJ (PML Flightlink, Ltd). Subjects : experienced EPW users
with upper limb impairments from a variety of etiologies
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Introduction
Sophisticated signal processing statistically indistinguishable from the
MSJ basic control function
lower performance than using the MSJ Regardless of the control software
installed, users tended to exert more force than necessary on the IJ
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Methods
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Experimental Setup
Fitts’ Law The model is based on time and distance
nine circular, black vinyl targets 155 cm in diameter to the floor in a double semicircular array
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Experimental Setup
Distance of targets from the starting position near targets : 305 cm far targets : 538.5 cm
Mounted one of two test joysticks to a Quickie P300 EPW (Sunrise Medical, 1994)
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Experimental Setup
Force sensing algorithm (FSA) program the IJ to operate as a simple IJ
Variable gain algorithm (VGA) program the IJ to emulate an MSJ more
closely dead zone : low amplitude inputs ( 0.9
N) occurring from unintentional/resting movements produces no output
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Experimental Setup
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Subjects
Used an EPW with hand operated MSJ as the primary means of mobility at least 20 h per week
Ages between 18 and 80 years
Tolerate testing for 2.5 h Drive to each of nine targets three
times with each of three joystick
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Subjects
Subject numbers in each diagnostic category : 4 (36.4%) with Cerebral Palsy (CP) 2 (18.2%) with traumatic brain injury (TBI) 2 (18.2%) with spinal cord injury (SCI) 1 (9.1%) with Muscular Dystrophy 1 (9.1%) with Spina Bifida (SB) 1 (9.1%) with PolioCerebral Palsy (CP) : 腦性麻痺Traumatic brain injury(TBI) :創傷性腦損傷spinal cord injury (SCI)脊髓損傷 Muscular Dystrophy :肌肉萎縮症Spina Bifida (SB) :脊柱分裂 Polio :小兒麻痺疫
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Data Collection
Accuracy successful trial
halted the EPW within the target for at least 2 s
with a total trial time of no more than 40 s Driving accuracy (DA)
the percentage of successful trials completed with each joystick
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Data Collection
Transducers forward and reverse
“speed” axis left and right
“direction” axis
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Subjects
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Data Collection
Average applied force each trial by dividing the area under the
force time curve by the total trial time Excess force
Each trial as the average of the differences between the actual applied force
control efficiency (CE) the Newton ‧ seconds (N‧s ) expended
within the operational range divided by the total N‧s of each trial
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Statistical Analysis
Alpha at values equal to 0.05 a priori Used SPSS for univariate analyses and
nonparametric analyses nonparametric statistics(Friedman test)
Average applied force and trial time were not normally distributed
learning effect for average applied force subsequent trials
nonparametric statistics(Mann–Whitney tests) Determine if average applied force for each
trial was related to DA
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Statistical Analysis
Spearman Rho correlations evaluate the relationship between
average applied force and trial time for successfully acquired targets
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Results
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Results
Average age 37.8 ± 10.9 years
Gender male : 6 (54.6%) female : 5 (45.5%)
Race Caucasian : 6 (54.6%) African-American : 4 (36.4%) Asian-American : 1(9.1%).
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Results
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Results
No learning effect seen for average applied forc any joystick FSA p = 0.184, VGA p = 0.117, MSJ p = 0.804
Average applied force negatively correlated with trial time for all three joysticks for successfully acquired near and far targets
Average applied force was not related to DA for any of the joysticks FSA p = 0.306, VGA p = 0.126, MSJ p = 0.304
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Results
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Conclusion
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Conclusion
The HERL IJ is a potential alternative control interface for mobility for many individuals with disabilities.
The IJ required more force to operate than the MSJ, but subjects’ driving performance was not affected.
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Thank You for Your Attention!