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ViEW : an electric wheelchair driving simulator

Yann Morère - yann.morere@univ-lorraine.fr
http://www.lasc.univ-metz.fr

Introduction [1]

Electric Wheelchair = essential mobility device

Real tests are difficult to achieve

Objectives [2]

Development tool for analysis and testing the driving :

Modeling Human-Vehicle System

Simulators for mobility help [3]

Recent developments :

  • non generalized use

Severals differents purposes :

  • Facilitate learning to drive an electric wheelchair ;
  • Hemineglectance reeducation

WheelsimAcessimSlalom

Simulators for mobility help [4]

Virtual reality is generalized (3D)

Choice : software only simulator / Software + mechanical platform

  • + Movement sensation and kinesthetic feedback
  • - Price for duplication

Real contribution of VR for rehabilitation

  • Perceptual skill
  • Development of cognitive strategies

Work context [5]

Study of the driving task of EW

Person with disabilities

Software only simulator

  • 3D software solution → facilitate broadcasting
  • Important criterias :
    • Actuator similar to real wheelchair
    • Behavior close to a real wheelchair
    • Managing collisions
    • Enhance immersion with animated objects
    • Left and Right driving control actuator
    • Data display: speed, time and collision
    • Must be easily movable

ViEW simulator [6]


  • Design tools : 3DStudio, Virtools and .NET 2005
  • Hardware : Joystick Penny & Giles, acquisition module Labjack U12
  • Available datas : time, wheelchair & joystick position, collision, speed

ViEW simulator [7]

Environments achieved with centers partnership :

Hardware
CERAHCNRFIRR

Video [8]

Perspectives/Next Project [9]

HMDForce FeedBack

Perspectives/Next Project [10]

ViEW and EMG [10]

Goal : use EMG signals to drive in ViEW

  • Very first results;
  • Developped within 3 days;
  • Using 2 channels : Stop/Forward, Left/Right;

Constraints :

  • Stop control must be quick to achieve ;
  • Connect all the different software (C#, C++);
Andrei Nakagawa Silva

ViEW and EMG [11]

Modification of ViEW to use On/Off controls

Synoptic

Acquisition device

  • MyosystemBr1 : DataHominis Tecnologia;

ViEW and EMG [12]

Acquired datas are treated with "Biolab" software (in C#)

Computes On/Off control sent data server (in C#)

"Biolab" Software

ViEW and EMG [13]

Control definition

  • Channel 1 : 1 peak → Forward, 2 peaks → Stop
  • Channel 2 : 1 peak → Right, 2 peaks → Left

Controls

ViEW and EMG [14]

Schematic of the connected devices


Hardware

ViEW and EMG [15]

Developpment of the Virtools Block : BioControl

  • Socket management en C++;
  • Threaded program = non blocking feature;
  • Parameter : IP adress of the server;
  • Output : Integer = control number;

ViEW EMG Video [16]







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