RU214318U1 - ROBOTIZED ELECTRIC WHEELCHAIR WITH A MULTIMODAL HUMAN-MACHINE INTERFACE - Google Patents

Abstract

The utility model relates to the field of rehabilitation medicine, namely to intelligent electric wheelchairs, and can be used as a vehicle for people with disabilities. The technical result is the ability to control a wheelchair for people with impaired motor skills of the upper limbs, for whom the use of standard controls is difficult. To achieve it, a robotic electric wheelchair with a multimodal human-machine interface is proposed, consisting of a frame, in the lower front part of which two electric motors are connected with two large wheels, and in the lower rear part there are two small wheels, while in the upper part of the frame with a screw a clamp for the head is fixed by connection, and the left armrest and the right armrest are welded on the sides, with a joystick attached to it by riveting, while a clamp for legs is fixed by welding in the lower front part of the frame, a seat is riveted in the central part of the frame, in the rear lower part of the frame the power and charging panel is connected with a screw connection, while in the rear central part of the frame, an encephalograph, a computer and a myograph are connected with a screw connection, a tactile button located at the front edge of the armrest is attached to the left armrest with a riveting, a tactile button is attached to the frame and the right armrest with a riveting a rod for an eye tracker, with an eye tracker fixed on it with a screw connection and, with two restrictive markers fixed at its edges with a screw connection, at the same time, a bracket is riveted to the frame and the left armrest, to which a touch monitor is attached by a screw connection, to the upper edge of which a camera with microphone, directed towards the head holder, in the front part of which two localization markers are glued on each side, while the computer is connected to the eye tracker, joystick, tactile button, encephalograph, myograph, touch screen and camera with microphone by wires that are attached to the frame. 2 ill.

Description

Technical field

The utility model relates to the field of rehabilitation medicine, namely to robotic (intelligent) electric wheelchairs, and can be used as a vehicle for people with disabilities.

State of the art

Known from the prior art is an intelligent electric wheelchair using a control panel with registration of eyeball movements (Smart wheelchair based on eyeball control screen, patent CN 108524121 A), consisting of an electric wheelchair, an information collection device and an eyeball movement registration device, the disadvantage of which is the control of the electric wheelchair by means of one device - a device for recording the movement of the eyeballs, and without any confirmation (verification) of the control signal.

The closest in technical essence (prototype) is the design of an intelligent electric wheelchair (patent CN 210644374 U), consisting of an electric wheelchair, an encephalograph, a motor, a power source, a single-board computer, a voice recognition tool. The disadvantage of this design is the lack of means for verifying the control signal from the user and a small number of means for fixing user activity. User activity is recognized only through the encephalograph and voice recognition.

The above electric wheelchairs have a number of common disadvantages that limit their use in the subject area:

- a small number of control interfaces (no more than two in each patent) significantly limits the number of people with disabilities to whom such control methods are available;

- there is no verification of signals from the used interfaces.

It is impossible for the user to constantly concentrate on control, because of this, false alarms inevitably occur, and as a result, control accuracy decreases. A particular example of unintentional control actions is the “Midas touch” problem that occurs during eye control - a person’s gaze involuntarily moves to objects that appear in his field of vision.

The technical problem to be solved by the claimed utility model is the improvement of mobility aids for the disabled.

Utility Model Disclosure

The technical result is the ability to control a wheelchair for people with impaired motor skills of the upper limbs, for whom the use of standard controls is difficult.

To achieve a technical result, a robotic electric wheelchair with a multimodal human-machine interface is proposed, consisting of a frame, in the lower front part of which two electric motors are connected with two large wheels, and in the lower rear part, two small wheels, while in the upper part of the frame, a fixator for the head is fixed with a screw connection, and the left armrest and the right armrest are attached to the sides by welding, with a joystick attached to it by riveting, while, in the lower front part of the frame, a fixator for the legs is fixed by welding, in the central part of the frame the seat is connected by riveting, in the rear the lower part of the frame is connected with a screw connection to the power and charging panel, while in the rear central part of the frame an encephalograph, a computer and a myograph are connected with a screw connection, a tactile button located on the front edge of the armrest is attached to the left armrest with a riveting, to the frame and the right armrest a rod for an eye tracker is attached with a riveting, with an eye tracker fixed on it with a screw connection and, with a screw connection fixed at its edges, two restrictive markers, at the same time, a bracket is attached to the frame and the left armrest with a riveting, to which a touch monitor is attached by a screw connection, to the upper on the edge of which a camera with a microphone is glued, directed towards the head holder, in the front part of which two localization markers are glued on each side, while the computer is connected to the eye tracker, joystick, tactile button, encephalograph, myograph, touch screen and camera with microphone wires that are attached to the frame with clamps.

Brief description of the drawings

In FIG. 1 shows a schematic representation of a robotic electric wheelchair with a multimodal human-machine interface, isometric projection, front view, in Fig. 2 is a schematic representation of a robotic wheelchair with a multimodal human-machine interface, isometric projection, rear view where:

1 - big wheel;

2 - small wheel;

3 - seat;

4 - left armrest;

5 - fixator for legs;

6 - fixator for the head;

7 - computer;

8 - electric motor;

9 - right armrest;

10 - localization marker;

11 - limit marker;

12 - eye tracker;

13 - rod for the eye tracker;

14 - camera with microphone;

15 - touch monitor;

16 - bracket;

17 - joystick;

18 - tactile button;

19 - encephalograph;

20 - myograph;

21 - power and charging panel;

22 - frame.

Implementation of the utility model

The basis of a robotic wheelchair with a multimodal human-machine interface is a wheelchair, which includes two electric motors 8, screw-connected to the frame 22 of the electric wheelchair. A large wheel 1 is attached to each engine. Two small wheels 2 are attached through a swivel joint to the frame 22 of the electric wheelchair. The seat 3 is fixed on the frame with rivets, the left armrest 4 is welded on the left side of the frame, the right armrest 9 is welded on the right side, and the leg lock 5 is in front. At the wheel level, a power and charging panel 21 is attached to the frame 22 with a screw connection.

Interfaces are attached to the electric wheelchair by various assembly operations: the eyetracker 12 is articulated through a hinge with the rod for the eyetracker 13; the edge of the touch monitor 15, which is screwed to the bracket 16, which is riveted to the frame of the electric wheelchair and the left armrest 4. The joystick 17 is riveted to the right armrest 9, and the tactile button 18 is riveted to the left armrest 4. The encephalograph 19 is screwed It is attached to the frame of the electric wheelchair at the back by a connection, under it there is a myograph 20, which is also connected to the frame by a screw connection.

Four localization markers 10 are glued to the head holder 6 at the front, two on each side. To the right of the encephalograph 19, on the same level with it, there is a computer 7, which is attached to the frame 22 of the electric wheelchair with the help of a screw connection. All interfaces are connected by wires to the computer 7. Wires are attached to the frame by clamps 22

After turning on the power using the power and charging panel 21, the user selects the control mode and proceeds to control the electric wheelchair through the interfaces used in the selected mode. To control human technical objects, a multimodal human-machine interface (MMHMI) is used. It is also implemented when driving an electric wheelchair.

The wheelchair control command is formed on the basis of input signals from the human operator, registered and processed by the MMMMI. Three types of signals are fed to the MMMMI input: command (forms a control signal), confirming (verification of command signals) and mode (switching control modes). When using MMMI, it is not necessary to use all three inputs. The confirmation input can simultaneously receive signals from different interfaces - verification will be performed on the first positive signal from them. The same interface can be used at several inputs of the MMMI - depending on the control mode, it plays a different role in the formation of the control signal. The MFMMI approach makes it possible to make the control more accurate and reliable, excluding accidental operation. Combining the interfaces and inputs of the MMMMI allows you to choose the most preferable mode for a particular user, based on the individual characteristics of his body and condition, as a result of which the mobility of users - people with disabilities increases.

An example of the implementation of the utility model is a robotic electric wheelchair with a multimodal human-machine interface of the Robotics Laboratory of the National Research Center "Kurchatov Institute", manufactured at the manufacturer, used in research activities in several laboratories. Managed in one of several modes:

- eye joystick. By moving the view, the user controls the speed and direction of movement - a look up and down is responsible for the amount of speed, left and right - a deviation to the left or right from moving in a straight line;

- eye control through a virtual screen. The work area covered by the eye tracker 12 is presented by the user as a virtual screen (the boundaries of which are marked by two restrictive markers 11) and is divided into nine virtual areas (3×3 square). When the gaze is directed to the upper left area, the electric wheelchair moves to the left; upper central - straight; upper right - to the right; left in the second row - turns left in place; central in the second row - stops; right in the second row - turns right in place; lower central - goes back;

- autonomous movement to a given point. The user fixes his gaze on some point in the observed space, to which he would like to go. When confirmation is given, the electric wheelchair automatically moves to the specified point without user intervention;

- control via voice commands. The user gives one of the commands by voice: "carriage forward", "carriage back", "carriage to the left", "carriage to the right", "carriage stop". The electric wheelchair performs the corresponding action within a fixed time;

- joystick control. Electric wheelchair control using joystick 17.

The proposed design has the following advantages over the known solutions:

- when driving an electric wheelchair, the physical capabilities of the operator - a person with a disability are taken into account, and the control interface suitable for his specific limitations and features is selected;

- when driving an electric wheelchair, it is possible to verify the control signal from the main interface through other interfaces;

- when driving an electric wheelchair, it is possible to receive feedback (the state of the electric wheelchair - the operator) through interfaces that are not used for control.

Claims (1)

A robotic electric wheelchair with a multimodal human-machine interface, consisting of a frame, in the lower front part of which two electric motors connected to two large wheels are connected with a screw connection, and in the lower rear part - two small wheels, while in the upper part of the frame a latch is fixed with a screw connection for the head, and the left armrest and the right armrest are welded on the sides, with a joystick attached to it with a riveting, while a leg lock is fixed by welding in the lower front part of the frame, a seat is riveted in the central part of the frame, a screw connection is connected in the rear lower part of the frame power-on and charging panel, characterized in that an encephalograph, a computer and a myograph are screwed into the rear central part of the frame, a tactile button located at the front edge of the armrest is riveted to the left armrest, a rod for aitr is riveted to the frame and the right armrest acker, with an eye tracker fixed on it with a screw connection and, with two restrictive markers fixed at its edges with a screw connection, at the same time, a bracket is attached to the frame and the left armrest, to which a touch monitor is attached by a screw connection, to the upper edge of which a camera with a microphone is glued, directed towards the fixator for the head, in the front part of which two localization markers are glued on each side, while the computer is connected to the eye tracker, joystick, tactile button, encephalograph, myograph, touch screen and camera with microphone by wires that are attached to the frame by clamps.

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