REPORT ON INTERFACE MODES OF POWERED WHEELCHAIRS
Reasoning and Learning Laboratory | Professor Joelle Pineau, PhD.
Joystick Controller
Interface Mode
-
Joystick.
How the interface tool works
-
Direction: determined by the direction of the joystick.
-
Speed: determined by how far the joystick is pushed into one direction.
Degrees of Freedom
-
2 dimensions.
Miscellaneous Information
-
Maximum speed controller is required.
Chin controller
Interface Mode
Chin controller
How the interface tool works
Direction: determined by user pushing his or her chin in the desired direction.
Speed: adjusted by how hard the user is pressing the controller in the desired direction.
Degrees of Freedom
2 dimensions.
Miscellaneous Information
Similar type of controller is a neck controller, shown in the picture below. It is controlled in the same manner as the chin controller, except that user leans his or her head backwards to accelerate.
Head Controller
Interface mode
-
Headrest controller
How the interface tool works
-
Direction: determined by user pushing the headrest in the desired direction.
-
Speed: determined by how hard the headrest is pushed.
Degrees of Freedom
-
2 dimensions + 1 bit switch.
Miscellaneous information
-
Requires extra switch to move backwards.
-
User cannot use headrest as a headrest, unless the wheelchair is turned off.
Finger controller
Interface mode
-
Finger control box
How the interface tool works
-
Direction: user simply moves his or her finger in the desired direction.
Degrees of Freedom
-
2 dimensions.
Miscellaneous information
-
The finger control box can be mounted anywhere the user feels comfortable with.
-
Similarly, there exists touch pad controller which provides exact same operations as the finger controller
Wafer board controller
Interface mode
-
Wafer board control box.
-
User’s fingers.
How the interface tool works
-
Direction: user presses a button that corresponds to the desired direction.
-
Speed: adjusted by buttons.
-
It is similar to a joystick, but uses latching system.
Degrees of Freedom
-
Discrete
Miscellaneous information
-
The control box is designed to be mounted on the user’s lap.
Proximity Controller
Interface mode
-
Proximity sensors
-
Any part of user’s body, preferably a hand or a foot.
How the interface tool works
-
Direction: user simply waves part of his or her body in the desired direction
-
Uses latching system.
Degrees of Freedom
-
Discrete
Miscellaneous information
-
The proximity sensors can be placed anywhere on the wheelchair, but it is usually placed near the user’s feet or hands.
Sip’n’Puff controller
Interface Mode
-
Sip and puff controller (pressure sensor).
-
User’s mouth
How the interface tool works
-
Direction: initial hard puff will move the wheelchair forward, while a hard sip will stop the wheelchair.
-
Continuous soft sip or soft puff will move the wheelchair left and right respectively.
Degrees of Freedom:
-
Discrete
Miscellaneous information
-
Requires training.
Tongue Controller
Interface mode
-
User’s tongue
-
Dental mouth piece consisting of 9 switches.
How the interface tool works
-
The mouth piece fits in the roof of the mouth and is activated by user’s tongue.
-
Direction: user chooses the left, right, forward, or backward direction switch on the mouth piece with his or her tongue.
-
Speed: user chooses the front-most and very back button to speed up and down respectively.
Degrees of Freedom
-
Discrete.
Miscellaneous information
-
Requires training.
