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A Comparison Between Conventional and User-Intention-Based Adaptive Pushrim-Activated Power-Assisted Wheelchairs.

M Khalili, G Kryt, H F M Van der Loos

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |November 18, 2021
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    Summary

    Adaptive controllers for pushrim-activated power-assisted wheelchairs (PAPAW) personalize assistance based on user intention, significantly reducing propulsion effort. This technology enhances wheelchair mobility by adapting to diverse user needs and activities.

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    Area of Science:

    • Robotics
    • Biomechanics
    • Human-Computer Interaction

    Background:

    • Users of pushrim-activated power-assisted wheelchairs (PAPAW) have varying assistance needs based on activity and personal preference.
    • Developing adaptive PAPAW controllers is crucial for accommodating these individual differences.

    Purpose of the Study:

    • To integrate a user intention estimation framework into a PAPAW system.
    • To develop personalized adaptive controllers that adjust power assistance based on identified user intentions.

    Main Methods:

    • Collected wheelchair propulsion kinetics (pushrim forces) during various daily activities.
    • Trained random forest classification models to estimate user intentions (e.g., moving forward, turning, braking).
    • Implemented and tested the intention estimation framework in real-time on a laboratory-developed PAPAW.

    Main Results:

    • Real-time user intention predictions closely matched offline model performance.
    • The power-assist ratio was dynamically adjusted based on identified user intentions.
    • Propulsion effort was significantly reduced for participants using the adaptive PAPAW controller.

    Conclusions:

    • Adaptive intention-based controllers are effective in reducing wheelchair propulsion effort.
    • User preferences for controller performance vary across individuals and maneuvers, highlighting the need for customized solutions.
    • Personalized adaptive controllers are essential for optimizing PAPAW functionality for diverse users and activities.