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
- Severals different mechanical features
- Different control device
- Lots of parameter tuned empirically
- No tools/methods for easily test Human-Machine adequation
Real tests are difficult to achieve
- A need of tools to analyse to test and analyse driving skills
Objectives [2]
Development tool for analysis and testing the driving :
- Tuning objectively the wheelchair according to the user;
- Test and evaluate the driving skills;
- Try out new features in security;
- ALearning to drive safely.
Modeling Human-Vehicle System
- Defining specificities of wheelchair control → Descriptive Analysis;
- Setting a pattern of behavior for optimal driving → Objective analysis.
Simulators for mobility help [3]
Recent developments :
- non generalized use
Severals differents purposes :
- Facilitate learning to drive an electric wheelchair ;
- Hemineglectance reeducation
| Wheelsim | Acessim | Slalom |
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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]
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- 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 |
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| CERAH | CNRF | IRR |
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Video [8]
Perspectives/Next Project [9]
Enhance the physical model of the wheelchair
Head Mounted Device :
- 3D display + head tracking
Integrate haptic feedback information
| HMD | Force FeedBack |
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Perspectives/Next Project [10]
Use of augmented reality
- Real wheelchair moving in open space
- Virtual obstacles added in the scene
Migrate simulator on more open / free software
- 3D Unity, Ogre 3D
| 3D Unity | Ogre 3D |
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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 |
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ViEW and EMG [11]
Modification of ViEW to use On/Off controls
| Synoptic |
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Acquisition device
- MyosystemBr1 : DataHominis Tecnologia;
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ViEW and EMG [12]
Acquired datas are treated with "Biolab" software (in C#)
Computes On/Off control sent data server (in C#)
| "Biolab" Software |
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ViEW and EMG [13]
Control definition
- Channel 1 : 1 peak → Forward, 2 peaks → Stop
- Channel 2 : 1 peak → Right, 2 peaks → Left
| Controls |
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ViEW and EMG [14]
Schematic of the connected devices
| Hardware |
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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;
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