This paper presents a simple self-paced motor imagery based brain-computer interface (BCI) to control a robotic wheelchair. An innovative control protocol is proposed to enable a 2-class self-paced BCI for wheelchair control, in which the user makes path planning and fully controls the wheelchair except for the automatic obstacle avoidance based on a laser range finder when necessary. In order ...

During wheelchair propulsion, in order to apply power to the pushrim effectively, shoulder and trunk stabilization is needed to control arm movements and the consequent transfer of power from the limbs through to the pushrim. Available trunk control may be one of the most important force-generating mechanisms during wheelchair propulsion, particularly when an individual is fatigued or propellin...

This paper presents a human machine interface (HMI) for hands-free control of an electric powered wheelchair (EPW) based on head movements and facial expressions detected by using the gyroscope and ‘cognitiv suite’ of an Emotiv EPOC device, respectively. The proposed HMI provides two control modes: 1) control mode 1 uses four head movements to display in its graphical user interface the control...

A balance platform setup was defined for use in the determination of the center of gravity in the sagittal plane for a wheelchair and patient. Using the center of gravity information, measurements from the wheelchair and patient (weight, tire coefficients of friction), and various assumptions (constant speed, level-concrete surface, patient-wheelchair system is a rigid body), a method for estim...

This poster presents results obtained from experiments of driving a brain-actuated simulated wheelchair that incorporates the shared-control intelligence method. The simulated wheelchair is controlled offline using band power features. The task is to drive the wheelchair along a corridor avoiding two obstacles. We have analyzed data from 4 naïve subjects during 25 sessions carried out in two da...

Navigating within an unknown indoor environment using an electric wheelchair is a challenging task, especially if the user suffers from severe disabilities. In order to reduce fatigability and increase autonomy, control architectures have to be designed that would assist users in wheelchair navigation. We present a framework for vision-based autonomous indoor navigation in an electric wheelchai...

Power wheelchairs are essential for many individuals with mobility impairment. The objective of this study was to investigate the effectiveness of bimanual gliding (BG) and conventional joystick (CJ) control in an indoor environment, with application to (1) wheelchair driving performance (i.e., practice time, completion time, and driving deviation) and (2) muscle activity of the upper limbs. Th...

Some people without independent mobility are candidates for powered mobility but are unable to use a traditional power wheelchair joystick. This proof-of-concept study tested and further developed an innovative method of driving power wheelchairs for people whose impairments prevent them from operating commercial wheelchair controls. Our concept, Self-referenced Personal Orthotic Omni-purpose C...