Department of Cybernetics, Czech Technical University
Independent living through ICT
Olga Stepankova, Petr Novak, Tomas Krajnik, Libor Preucil
NIT GLCzech Technical University in Prague
Czech Republic
Department of Cybernetics, Czech Technical University
Department of Cybernetics
Czech Technical UniversityPrague, Czech Republic
http://cyber.felk.cvut.cz/
EU Centre of Excellence “MIRACLE” Machine Intelligence Research and Application Centre
for Learning Excellence
Department of Cybernetics, Czech Technical University
Network of excellence
2005-9: coordinated by University of Tampere (Finland)
Institutions from 11 countries:• IT Universities• hospitals• Centres for Assistive Technology
Department of Cybernetics, Czech Technical University
CONDITION NUMBERS
ALS / MND 27,000
Multiple Sclerosis 135,000
Cerebral Palsy 900,000
Spinal Cord Injury 36,000
Spinal Muscular Atrophy 54,000
Retts Syndrome 29,970
Muscular Dystrophy 126,000
Brainstem Stroke 688,500
Traumatic Brain Injury 675,000
TOTAL 2,671,470Out of 450 million people in EU more than 2,5 mil.could
benefit from gaze control. But only 2000 use it !
Department of Cybernetics, Czech Technical University
Develop effective means to communicate by eye gaze for people impaired by motor-control disorders
Offer assistive technology that is empowering and fun to use
Verify its advantages! Consider it for environmental
control
CTU participation: Test and develop further
I4Control Identify its user group.
Department of Cybernetics, Czech Technical University
Cogain succeeded to
prove that eye control is…
• Here – now!
• Reliable• Well-supported• Not just a necessity…• …but also a choice offering
the means to
• Communicate• Control the computer• Control the environment• What about mobility?
Department of Cybernetics, Czech Technical University
Gaze controlled wheelchair
Challenges? How to ensure safety?!
Gaze control requires stable illumination. What will happen if the user moves into a place with bad light conditions ?
Human behaviour and subconcious reactions, e.g. What if the user • suddenly looks towards the source a suspicious noise?• is forced to close eyes due to irritation (dust, strong light, etc.)?
Choice of interface: eyes-up X eyes-down
Department of Cybernetics, Czech Technical University
Neither solution is safe (e.g. eyes-up: precise positioning, ..)
Can we build a smart wheelchair combining both solutions? Autonomous collision detection, learning, ...
This can be achieved by providing the chair with Environment sensing system (laser rangefinders,
sonars, ..) Algorithms from mobile robotics domain (self-
localization, autonomous motion planning, ..)
Eyes-down X Eyes-up interface
Department of Cybernetics, Czech Technical University
System description
Safe, comfortable gaze-controlled wheelchair
Gaze often distracted
Limited user concentration
Direct control not comfortable nor safe
Need to enforce autonomy
Environment sensing system
Algorithms of mobile robotics domain
Department of Cybernetics, Czech Technical University
Wheelchair direct control2 basic types of available control
actions (to be chosen according user’s skills and constraints):
Direct control “direction of gaze = selected direction of movement” Fast (most often) Not safe enough (under
extreme conditions)
Limit Mode (action has to be selected and confirmed using UI)
Movement and turning (1m, 2m, 10deg. 45deg, …)
Only listed possibilities
Department of Cybernetics, Czech Technical University
Wheelchair modes2 modes of autonomous control Indoor map Cursor is used to select the
target location on the map Offer of pre-defined target
locations (fast choice) Outdoor map Picture from camera heading
forward Surface selection (“this way”) Path suggestion & user
confirmation
Future work Customisation for individual
user Planning in complex
environment Warning the user about
important sensory input as well as about actions to come, ...
Department of Cybernetics, Czech Technical University
COGAIN 2009
Petr Novák , Olga ŠtepánkováNIT GL
Home and environment control
Department of Cybernetics, Czech Technical University
Control system structure
1. 3 types of various input devices (simple buttons, directions specified by gaze , absolute position)
2. Stand-alone application with UI running on home PC3. Special output devices (IR TV controller, …) or smart
home devices equipped by any type connection (door system, …)
1 - Input devices 2 – User interface & Control system 3 - Controlled devices
Department of Cybernetics, Czech Technical University
Other possibilitiesExamples of controlled appliances: Windows (open / close) – using special actuators Light or lamp (On / off ) – e.g. using wireless system Send / receive SMS by cell-phone – BlueTooth
connection between cell-phone and PCUseful solution for mobile users who can wirelessly
communicate with the home PC using any input device accessible from the wheelchair.
Person on wheelchairwith input device
Wireless connection to PC(BloeTooth, ZigBee)
Computer application
Department of Cybernetics, Czech Technical University
Conclusions
COGAIN’s experience with user trials proved: If given a choice, a significant proportion of
potential users would use eye control for at least some of the time…
Much more people could benefit from the current technology if we set the goal to
provide affordable solutions!
This can be achieved rather soon if we join forces in an interdisciplinary research including AI, robotics, psychology, ... and the users!
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