A force feedback joystick and control algorithm for wheelchair obstacle avoidance

Area of Science:

• Robotics
• Assistive Technology
• Human-Computer Interaction

Background:

• Powered wheelchair users often struggle with maneuvering in confined environments.
• Challenges include precise control via joysticks and lack of environmental sensory feedback.
• Existing assistive technologies may not fully address these navigation difficulties.

Purpose of the Study:

• To develop and implement an active joystick with force feedback for powered wheelchairs.
• To design control algorithms that enhance user navigation in confined spaces.
• To provide sensory feedback to powered wheelchair users regarding environmental obstacles.

Main Methods:

• Development of an active joystick prototype incorporating force feedback capabilities.
• Implementation of two distinct force feedback schemes to assist wheelchair users.
• Integration of the active joystick with powered wheelchair control systems.
• Description of the associated control algorithms for navigation assistance.

Main Results:

• Successful development and implementation of the active joystick system.
• Demonstration of force feedback mechanisms to indicate environmental proximity.
• The developed system aims to improve maneuverability in constrained areas.
• Control algorithms are designed to enhance user's spatial awareness.

Conclusions:

• The active joystick with force feedback offers a promising solution for powered wheelchair navigation.
• This technology can potentially improve the independence and safety of users in confined spaces.
• Further research and testing are warranted to fully evaluate its effectiveness in real-world scenarios.