Fauteuil roulant

Résumé

Un fauteuil roulant, aussi parfois appelé chaise roulante dans le langage familier, est une aide technique à la mobilité qui permet de transporter une personne assise sans peine sur une surface plane. En France, son appellation officielle est « véhicule pour handicapé physique » (VHP). Histoire thumb|redresse|gauche|Chaise roulante du . Les premiers meubles à roulettes ont été inventés en Chine au : des lits pour enfants ont ainsi été découverts sur des frises. Ce n'est qu'à partir du que l'on trouve des fauteuils permettant de transporter des personnes. Un fauteuil roulant a été fabriqué spécialement pour Philippe II d'Espagne (1527-1598). Il figure sur un croquis datant de 1595 dans une chaise avec des roues. Nicolas Grollier de Servières (1596-1689), ingénieur lyonnais et inventeur de machines fantastiques, construisit et exposa dans son cabinet de curiosités un fauteuil roulant dont le dessin fut publié par son petit-fils en 1719. Un horloger allemand paralysé

Source officielle

https://fr.wikipedia.org/wiki/Fauteuil_roulant

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Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices

Diego Felipe Paez Granados, Chen Yang

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We defined a virtual landmark inferred from the target docking destination. Then we solve the problem of keeping the targeted volume inside the field of view (FOV) of a tracking camera and docking to the virtual landmark through a novel definition that enables to control for the desired end-pose. We proposed a nonlinear feedback controller to perform the docking with the depth camera’s FOV as a constraint. Then a numerical method is proposed to find the feasible space of initial states where convergence could be guaranteed. Finally, the entire system was embedded for real-time operation on a standing wheelchair with the virtual landmark estimation by 3D object tracking with an RGB-D camera and we validated the effectiveness in simulation and experimental evaluations. The results show the guaranteed convergence for the feasible space depending on the virtual landmark location. In the implementation, the robot converges to the virtual landmark while respecting the FOV constraints.

2021

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Continuous Brain-Actuated Control of an Intelligent Wheelchair by Human EEG

Eileen Lew Yi Lee

The objective of this study is to assess the feasibility of controlling an asynchronous and non-invasive brain-actuated wheelchair by human EEG. Three subjects were asked to mentally drive the wheelchair to 3 target locations using 3 mental commands. These mental commands were respectively associated with the three wheelchair steering behaviors: emphturn left, emphturn right, and emphmove forward. The subjects participated in 30 randomized trials (10 trials per target). The performance was assessed in terms of percentage of reached targets calculated in function of the distance between the final wheelchair position and the target at each trial. To assess the brain-actuated control achieved by the subjects, their performances were compared with the performance achieved by a random BCI. The subjects drove the wheelchair closer than 1 meter from the target in 20%, 37%, and 7% of the trials, and closer than 2 meters in 37%, 53%, and 27% of the trials, respectively. The random BCI drove it closer than 1 and 2 meters in 0% and 13% of the trials, respectively. The results show that the subjects could achieve a significant level of mental control, even if far from optimal, to drive an intelligent wheelchair, thus demonstrating the feasibility of continuously controlling complex robotics devices using an asynchronous and non-invasive BCI.

2008

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In this paper we present further results of our asynchronous and non-invasive BMI for the continuous control of an intelligent wheelchair. Three subjects participated in two experiments where they steered the wheelchair spontaneously, without any external cue. To do so the users learn to voluntary modulate EEG oscillatory rhythms by executing three mental tasks (i.e., mental imagery) that are associated to different steering commands. Importantly, we implement shared control techniques between the BMI and the intelligent wheelchair to assist the subject in the driving task. The results show that the three subjects could achieve a significant level of mental control, even if far from optimal, to drive an intelligent wheelchair.

2009

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