CN111297581A - Automatic walking wheelchair system based on eyeball drive control - Google Patents

Automatic walking wheelchair system based on eyeball drive control Download PDF

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Publication number
CN111297581A
CN111297581A CN202010185743.6A CN202010185743A CN111297581A CN 111297581 A CN111297581 A CN 111297581A CN 202010185743 A CN202010185743 A CN 202010185743A CN 111297581 A CN111297581 A CN 111297581A
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CN
China
Prior art keywords
screen
pedal
patient
sitting posture
driving device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010185743.6A
Other languages
Chinese (zh)
Inventor
陆永华
王旦
叶志斌
朱华煜
柴众
查安飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University Of Aeronautics And Astronautics Wuxi Research Institute
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University Of Aeronautics And Astronautics Wuxi Research Institute
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University Of Aeronautics And Astronautics Wuxi Research Institute, Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University Of Aeronautics And Astronautics Wuxi Research Institute
Priority to CN202010185743.6A priority Critical patent/CN111297581A/en
Publication of CN111297581A publication Critical patent/CN111297581A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort

Abstract

The invention discloses an automatic walking wheelchair system based on eyeball drive control, which comprises a wheelchair, a driving device and a human-computer interaction device, wherein the human-computer interaction device comprises a camera arranged on a screen and a controller arranged in the screen, the driving device comprises a sitting posture adjusting driving device connected with a backrest, a pedal adjusting driving device connected with a pedal and a traveling adjusting driving device connected with a driving wheel, the sitting posture adjusting driving device comprises a sitting posture adjusting control motor, the pedal adjusting driving device comprises a pedal adjusting control motor, the traveling adjusting driving device comprises a driving wheel control motor, the sitting posture adjusting control motor, the pedal adjusting control motor and the driving wheel control motor are in signal connection with the controller, the structure can independently control the wheelchair to walk through eyes, and various control functions are integrated in the screen, convenient and fast, greatly improving the life quality of patients.

Description

Automatic walking wheelchair system based on eyeball drive control
Technical Field
The invention relates to the field of image processing and control, in particular to an automatic walking wheelchair system based on eyeball drive control.
Background
With the increasing aging, the number of the elderly increases, and the number of the paralyzed and long-term paralyzed patients increases accordingly. The quadriplegia patients caused by some diseases can only be treated by lying in bed, and need to be assisted by people even if the patients go out by sitting on a wheelchair, which undoubtedly increases the burden of children or caregivers around. Meanwhile, when the caretaker of the patient is not at the side, the patient cannot go out independently, which brings great constraint to the life of the quadriplegia patient.
With the development of science and technology, at present, an automatic walking device of a wheelchair is controlled by hands, a patient can send an instruction to the wheelchair through two hands to complete corresponding functions, but the patient with hands, feet and limbs paralyzed cannot independently go out by sitting on the wheelchair.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the automatic walking wheelchair system based on eyeball drive control, which can effectively solve the traveling problem of patients with quadriplegia, only needs eyes to control the automatic walking of the wheelchair, and is simple and convenient to operate.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic walking wheelchair system based on eyeball drive control comprises a wheelchair, a driving device and a human-computer interaction device, wherein the wheelchair comprises a wheelchair framework, driving wheels and a driven wheel which are arranged on two sides of the wheelchair framework, a backrest arranged on the wheelchair framework, a pedal connected with the lower side of the backrest, handrails arranged on two sides of the backrest, a screen support fixed on the handrails, a screen fixed on the screen support, a human-computer interaction device arranged in the screen, the human-computer interaction device comprising a camera arranged on the screen and a controller arranged in the screen, the driving device comprises a sitting posture adjusting driving device connected with the backrest, a pedal adjusting driving device connected with the pedal and a marching adjusting driving device connected with the driving wheels, the sitting posture adjusting driving device comprises a sitting posture adjusting control motor, the pedal adjusting and driving device comprises a pedal adjusting and controlling motor, the advancing adjusting and driving device comprises a driving wheel controlling motor, and the sitting posture adjusting and controlling motor, the pedal adjusting and controlling motor and the driving wheel controlling motor are all in signal connection with the controller.
Preferably, the screen is mounted on the armrest by a bracket and can be turned over by the bracket, and the screen can be stored at the side of the armrest when not in use.
Preferably, the screen displays functional areas including forward, backward, left turn, right turn, pedal adjustment, and sitting posture adjustment.
Preferably, the camera collects a face image of the patient, the controller detects eye characteristic parameters of the user, and a coordinate point of the patient watching the screen is calculated.
Preferably, the patient watches the functional area, the controller sends a signal to a corresponding motor, the motor completes a corresponding instruction, and the patient can finish a corresponding action by watching a stop button or removing the sight line.
Preferably, the patient carries out sitting posture adjustment, the patient watches the screen sitting posture adjustment area, the controller captures an instruction sent by the patient, the screen enters a sitting posture adjustment main interface, and the controller sends a signal to the sitting posture adjustment control motor to complete a corresponding instruction.
Preferably, the patient adjusts the pedal, watches the screen pedal adjustment area, the controller captures an instruction sent by the user, the screen enters a pedal adjustment interface, and the controller sends a signal to the pedal adjustment control motor to complete the corresponding instruction.
Preferably, the pedal adjusting function comprises the steps of moving the pedal up and down and rotating the pedal back and forth, and the requirements of leg characteristics of patients with different lengths and the placement modes of legs of users are met respectively.
Preferably, the patient controls to advance, looks at the forward, backward, left-turn and right-turn control areas of the screen, the controller captures an instruction sent by the user, the screen enters a pedal adjustment interface, and the controller sends a signal to the pedal adjustment control motor to complete the corresponding instruction.
Preferably, the system defaults the user to perform a uniform forward motion after the patient moves away from the line of sight during the travel control.
Preferably, when the screen enters the corresponding functional area, the screen displays the progress bar, the patient directly views the progress bar for speed regulation, when the sight line of the patient deviates to the right, the execution speed is accelerated, and when the sight line of the patient deviates to the left, the execution speed is slowed down.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an automatic walking wheelchair system based on eyeball drive control, which can independently control the wheelchair to walk through eyes when nursing personnel is lacked for patients with quadriplegia and leg paralysis, integrates various control functions in a screen, is convenient and fast, and greatly improves the life quality of the patients.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic diagram of the principle of the present invention.
In the figure: 101-screen; 102-a screen holder; 103-a pedal; 104-pedal adjustment drive; 105-wheelchair frame; 106-backrest; 107-sitting posture adjusting driving device; 108-a handrail; 109-travel adjustment drive means; 110-driving wheel; 111 — driven wheel; 201-patient; 202-camera; 203-a controller; 204-driving wheel control motor; 205-sitting posture adjustment control motor; 206-Pedal Regulation control Motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: an automatic walking wheelchair system based on eyeball driving control comprises a wheelchair, a driving device and a human-computer interaction device, wherein the wheelchair comprises a wheelchair framework 105, driving wheels 110 and driven wheels 111 which are arranged on two sides of the wheelchair framework 105, and a backrest 106 which is arranged on the wheelchair framework 105, a pedal 103 is connected to the lower side of the backrest 106, handrails 108 are arranged on two sides of the backrest 106, a screen support 102 is fixed on the handrails 108, a screen 101 is fixed on the screen support 102, the human-computer interaction device is arranged in the screen 101, the human-computer interaction device comprises a camera 202 arranged on the screen 101 and a controller 203 arranged in the screen 101, the driving device comprises a sitting posture adjusting driving device 107 connected with the backrest 106, a pedal adjusting driving device 104 connected with the pedal 103 and a traveling adjusting driving device 109 connected with the driving wheels 110, the sitting posture adjustment driving device 107 comprises a sitting posture adjustment control motor 205, the pedal adjustment driving device 104 comprises a pedal adjustment control motor 206, the traveling adjustment driving device 109 comprises a driving wheel control motor 204, and the sitting posture adjustment control motor 205, the pedal adjustment control motor 206 and the driving wheel control motor 204 are in signal connection with the controller 203.
The screen 101 is mounted on the armrest 108 by the screen support 102 and can be turned over by the screen support 102, and the screen 101 can be stored on the side of the armrest 108 when not in use.
The screen 101 displays functional areas including forward, backward, left turn, right turn, pedal 103 adjustment, and sitting posture adjustment.
The camera 202 gathers patient 201 face image, controller 203 detects user's eye characteristic parameter, calculates the coordinate point that screen 101 was watched to patient 201, patient 201 watches the functional area, controller 203 signals to corresponding motor, corresponding instruction is accomplished to the motor, patient 201 accessible is watched and is stopped the button or is got rid of the sight in order to end corresponding action.
The patient 201 performs sitting posture adjustment, the patient 201 watches the screen 101 sitting posture adjustment area, the controller 203 captures an instruction sent by the patient 201, the screen 101 enters a sitting posture adjustment main interface, and the controller 203 sends a signal to the sitting posture adjustment control motor 205 to complete a corresponding instruction.
The patient 201 adjusts the pedals 103, the patient 201 watches the screen 101 to adjust the area of the pedals 103, the controller 203 captures the instructions sent by the user, the screen 101 enters the pedal 103 adjusting interface, the controller 203 sends signals to the pedal adjusting control motor 206 to complete the corresponding instructions, and the pedal 103 adjusting function is divided into the vertical movement and the front and back rotation of the pedals 103, so that the leg characteristics of the patient 201 with different lengths and the placing mode of the legs of the user are respectively met.
Patient 201 advances control, and patient 201 gazes the control area that advances, retreats, turns left and turn right of screen 101, and controller 203 catches the instruction that the user sent, and screen 101 gets into footboard 103 adjustment interface, and controller 203 sends the instruction that signal completion corresponds to footboard adjustment control motor 206, the system is when advancing control, and after patient 201 moved away the sight, the system defaults the user and carries out the operation of advancing at the uniform velocity, screen 101 is when getting into corresponding functional area, screen 101 shows the progress bar, patient 201 looks at the progress bar and carries out the speed governing, when patient 201 sight was inclined to the right, accelerate the execution speed, when patient 201 sight was inclined to the left, slowed down the execution speed.
When the system is used, a patient 101 sits on a wheelchair, the screen 101 is adjusted to the optimal visual position, the human face is approximately opposite to the center of the screen 101, and the system is started;
the screen 101 generates a calibration point, a user watches the calibration point, the camera 202 collects a face image of the patient 101, the controller 203 calculates the center and the canthus of the iris in each calibration picture, eye feature information is constructed, the mapping relation between the eye feature information and each area of the screen 101 is determined, and calibration is completed;
the screen 101 displays six functional areas at six area positions: the patient 101 can watch the image signals through the functions of the screen 101, the controller 203 processes the image signals, corresponding instructions are sent to corresponding motor driving devices, and the motors rotate to drive the connecting rods of all parts to rotate, so that the instruction requirements of the patient 101 are met;
the patient 101 firstly carries out pedal 103 adjustment, the pedal 103 adjustment area enters a pedal 103 adjustment interface through watching the screen 101, and the rotation angle and the lifting height of the pedal 103 can be controlled by the eyes of the patient 101 so as to meet the optimal requirement of the patient 101;
entering sitting posture adjustment, entering a sitting posture adjustment interface by watching a sitting posture adjustment area, controlling the pitching angle of the backrest 106 by the eyes of a user, and in order to ensure the safety of the user, initializing the angle of the backrest 106 to be 90 degrees, and adjusting the angle to be 0-60 degrees, so that the user requirements can be met;
after the pedal adjustment and the sitting posture adjustment are finished, if the user watches the walking function, the pedal 103 and the sitting posture adjustment function are self-locked to ensure the safety in the driving process;
the patient 101 enters the functional interface by watching the forward or backward function and the center of the left-turn and right-turn areas, the speed can be adjusted by dragging the progress bar of the interface with eyes, and the upper limit of the speed is set for ensuring safety;
for the forward function, as a normal state of walking, when the patient 101 leaves the forward function area, the system defaults that the user performs a uniform forward operation, and the patient 101 may stop the forward movement by watching the stop function of the walking interface or watching the stop function of the main interface.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (11)

1. An automatic walking wheelchair system based on eyeball drive control is characterized by comprising a wheelchair, a driving device and a human-computer interaction device, wherein the wheelchair comprises a wheelchair framework, driving wheels and driven wheels which are arranged on two sides of the wheelchair framework, a backrest which is arranged on the wheelchair framework, a pedal connected to the lower side of the backrest, handrails arranged on two sides of the backrest, a screen support fixed on the handrail, a screen fixed on the screen support, a human-computer interaction device arranged in the screen, a camera arranged on the screen and a controller arranged in the screen, the driving device comprises a sitting posture adjusting driving device connected with the backrest, a pedal adjusting driving device connected with the pedal and a marching adjusting driving device connected with the driving wheels, the sitting posture adjusting driving device comprises a sitting posture adjusting control motor, the pedal adjusting and driving device comprises a pedal adjusting and controlling motor, the advancing adjusting and driving device comprises a driving wheel controlling motor, and the sitting posture adjusting and controlling motor, the pedal adjusting and controlling motor and the driving wheel controlling motor are all in signal connection with the controller.
2. The automatic walking wheelchair system based on eyeball driving control as claimed in claim 1, wherein the screen is mounted on the armrest through a bracket and can be turned over through the bracket, and the screen can be folded at the side of the armrest when not in use.
3. The automatic walking wheelchair system based on eyeball-drive control as claimed in claim 2, wherein the screen displays functional areas including forward, backward, left turn, right turn, pedal adjustment and sitting posture adjustment.
4. The automatic walking wheelchair system based on eyeball drive control as claimed in claim 3, wherein the camera collects human face images of the patient, and the controller detects eye characteristic parameters of the user and calculates coordinate points of the patient watching the screen.
5. The automatic walking wheelchair system based on eyeball driving control as claimed in claim 4, wherein the patient watches functional area, the controller sends out signal to corresponding motor, the motor completes corresponding command, the patient can finish corresponding action by watching stop button or moving away vision.
6. The automatic walking wheelchair system based on eyeball drive control as claimed in claim 5, wherein the patient carries out sitting posture adjustment, the patient looks at a screen sitting posture adjustment area, the controller captures an instruction sent by the patient, the screen enters a sitting posture adjustment main interface, and the controller sends a signal to the sitting posture adjustment control motor to complete the corresponding instruction.
7. The automatic walking wheelchair system based on eyeball driving control as claimed in claim 6, wherein the patient carries out pedal adjustment, the patient looks at a pedal adjustment area of a screen, the controller captures an instruction sent by the user, the screen enters a pedal adjustment interface, and the controller sends a signal to the pedal adjustment control motor to complete the corresponding instruction.
8. The automatic walking wheelchair system based on eyeball driving control as claimed in claim 7, wherein the pedal adjustment function is divided into up and down movement and front and back rotation of the pedal, which respectively satisfy the leg characteristics of patients with different lengths and the placement of the user's legs.
9. The automatic walking wheelchair system based on eyeball driving control as claimed in claim 8, wherein the patient is in control of advancing, the patient looks at the control area of forward, backward, left-turning and right-turning of the screen, the controller captures the instruction sent by the user, the screen enters the pedal adjustment interface, and the controller sends a signal to the pedal adjustment control motor to complete the corresponding instruction.
10. The automatic walking wheelchair system based on eyeball drive control as claimed in claim 9, wherein the system defaults the user to perform uniform forward motion after the patient moves away from sight during the traveling control.
11. The automatic walking wheelchair system based on eyeball driving control as claimed in claim 10, wherein the screen displays a progress bar when entering the corresponding functional area, the patient looks directly at the progress bar for speed adjustment, the execution speed is increased when the sight line of the patient deviates to the right, and the execution speed is decreased when the sight line of the patient deviates to the left.
CN202010185743.6A 2020-03-17 2020-03-17 Automatic walking wheelchair system based on eyeball drive control Pending CN111297581A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010185743.6A CN111297581A (en) 2020-03-17 2020-03-17 Automatic walking wheelchair system based on eyeball drive control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010185743.6A CN111297581A (en) 2020-03-17 2020-03-17 Automatic walking wheelchair system based on eyeball drive control

Publications (1)

Publication Number Publication Date
CN111297581A true CN111297581A (en) 2020-06-19

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CN202010185743.6A Pending CN111297581A (en) 2020-03-17 2020-03-17 Automatic walking wheelchair system based on eyeball drive control

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113156861A (en) * 2021-04-21 2021-07-23 华南脑控(广东)智能科技有限公司 Intelligent wheelchair control system
WO2023076573A1 (en) * 2021-10-28 2023-05-04 Lifedrive Llc Drive manager for power wheelchair and related methods

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204863717U (en) * 2015-06-03 2015-12-16 西安电子科技大学 Utilize eyeball to track wheelchair of control
CN108524121A (en) * 2018-04-04 2018-09-14 西安电子科技大学 The intelligent wheel chair of screen is controlled based on eyeball
CN110292490A (en) * 2019-07-11 2019-10-01 华东交通大学 It is a kind of that building machine is stepped on based on the convenient of the convertible wheel group of three leaves
CN110787006A (en) * 2019-10-22 2020-02-14 南京航空航天大学 Novel electric sickbed based on eyeball driving and adjusting

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204863717U (en) * 2015-06-03 2015-12-16 西安电子科技大学 Utilize eyeball to track wheelchair of control
CN108524121A (en) * 2018-04-04 2018-09-14 西安电子科技大学 The intelligent wheel chair of screen is controlled based on eyeball
CN110292490A (en) * 2019-07-11 2019-10-01 华东交通大学 It is a kind of that building machine is stepped on based on the convenient of the convertible wheel group of three leaves
CN110787006A (en) * 2019-10-22 2020-02-14 南京航空航天大学 Novel electric sickbed based on eyeball driving and adjusting

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113156861A (en) * 2021-04-21 2021-07-23 华南脑控(广东)智能科技有限公司 Intelligent wheelchair control system
WO2023076573A1 (en) * 2021-10-28 2023-05-04 Lifedrive Llc Drive manager for power wheelchair and related methods

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Application publication date: 20200619

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