An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi...
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![Page 1: An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi Ming, IC LAB.](https://reader036.fdocuments.us/reader036/viewer/2022082610/56649da05503460f94a8c241/html5/thumbnails/1.jpg)
An Integral System for Assisted Mobility
Manuel Mazo & the Research group of the SIAMO Project
Yuchi Ming, IC LAB
![Page 2: An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi Ming, IC LAB.](https://reader036.fdocuments.us/reader036/viewer/2022082610/56649da05503460f94a8c241/html5/thumbnails/2.jpg)
Contents
•Overview.
•System Architecture–HMI(Human-Machine Interface).–Environment Perception.–Navigation and Control.
• Summary
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Overview
• The SIAMO(Spanish acronym for Integral System for Assisted Mobility) project began at the end of 1996.
• Motivation:Motivation: Design autonomous wheelchairs as an assistance device for the disabled or the elderly.
• Goal: Safety, Comfort and Modularity.
![Page 4: An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi Ming, IC LAB.](https://reader036.fdocuments.us/reader036/viewer/2022082610/56649da05503460f94a8c241/html5/thumbnails/4.jpg)
System
Architecture
![Page 5: An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi Ming, IC LAB.](https://reader036.fdocuments.us/reader036/viewer/2022082610/56649da05503460f94a8c241/html5/thumbnails/5.jpg)
![Page 6: An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi Ming, IC LAB.](https://reader036.fdocuments.us/reader036/viewer/2022082610/56649da05503460f94a8c241/html5/thumbnails/6.jpg)
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Human-Machine Interface
• Breath expulsion
• Head Movements.
• Electro-oculography(EOG).
• User-dependent voice recognition.
• Joystick.
• Display & voice synthesizer.
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Guidance by Breath Expulsion
• A differential air-flow sensor with a linear output is used, so it is possible to detect both strength and direction of breathing.
• With an “easy-to use” breath code it is possible to obtain the references of linear and angular velocities and to stop the chair in case of trouble.
• This driving aid allows commanding the chair in broad corridors and halls as well as crossing through doors of 1.5m wide without any other assistance or sensory system.
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Guidance Head Movements.
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Guidance by Electro-Oculography
• This method allows one to generate simple coder for controlling the wheelchair using eye placement.
• Several biopotential skin electrodes are placed on the user’s face to detect eye movement.
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Guidance by Voice Commands
• Instead of a computer, a commercial isolated word recognition chip has been used.
• A set of nine voice commands are developed. Each command has an associated driving function: Stop, Forward, Back, Left, Right, Plus, Minus, Password and Track.
• “Plus” and “Minus” means increase or decrease the speed.• “Password” allows switch between the voice control and
normal conversation.• “Track” allows switch between voice control and
Autonomous control.
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Environment Perception
• Ultrasonic sensors.
• Infrared sensors.
• Active laser sensors.
• Passive vision system based on artificial landmarks.
![Page 13: An Integral System for Assisted Mobility Manuel Mazo & the Research group of the SIAMO Project Yuchi Ming, IC LAB.](https://reader036.fdocuments.us/reader036/viewer/2022082610/56649da05503460f94a8c241/html5/thumbnails/13.jpg)
Ultrasonic Sensors.
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Infrared Sensors
• The role of the infrared sensors is to detect floor unevenness.
• The sensor makes distance reading up to a point marked on the floor 2m in front of the wheelchair
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Active Laser Sensors
• This sensor module obtains 3-D positions of obstacles.
• A laser emitter projects a plane-form bean over the scene. From the image captured by the CCD camera, the points belonging to that bean are segmented.
• Expensive.
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Passive Vision System
• The landmarks are simple A4 paper sheet with a black-white pattern printed on them.
• Positioning is performed by measuring the landmark distortion in the captured image.
• Landmarks must be located at heights over 1.5m(height of the camera, and each entrance door must be signaled with one landmark right over it.
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Navigation and Control
• Automatic Navigation strategy is incorporated in the wheelchair so that the user only need to indicate the destination point.
• Automatic Navigation need a full mapping of of the environment.
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• One contactless node, equipped with a wireless drive, can be placed on the main doors and loaded with a full description of room identification, landmark location, and routing inside the building.
• The wheelchair need not to store all the maps.
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Summary
The system has the characteristic of being modular, which allows it to be easily adapted to each user’s specific requirements, depending on the type and degree of disability.