Research On Shared Control Intelligent Wheelchair Based On Sensor Network

Factors such as functional decline,decreased body immunity,and pathological aging in the process of aging can cause dyskinesia in the elderly.Electric wheelchairs are often used as an important auxiliary device in the daily lives of the elderly.Most users of electric wheelchairs are elderly or disabled who often accompanied by different degrees of hemiplegia,mental decline and other issues.Fully relying on the user to control the electric wheelchair may cause secondary damage to the user.In this context,we designed and implemented a wheelchair control system solutions based on a shared intelligent sensor network.Sharing control retains the user's control rights and can correct the user's control commands in combination with the obstacle information acquired by the sensor network.The specific implementation of the program is as follows:First,an intelligent wheelchair system platform with multi-sensor networks including laser radar,ultrasonic sensors,cameras and planar positioning systems was built.After the sensor network obtains the environmental information,the sensor data will be processed by dynamic adaptive filter.Then,the nearest two neighboring clustering method and the nearest neighbor correlation method will be used to analyze the two frames of data to obtain the dynamic attributes of the obstacles in the local map.Second,based on the established intelligent wheelchair platform,an obstacle avoidance strategy is proposed to implement by combine user's control command with the obstacle information acquired by the sensor network.The input of the fuzzy controller is the instantaneous sensor network data,the obstacle dynamic attribute and the system's own motion state,and the output is a wheelchair control command.Then,a reasonable membership function is used to fuzz the input and output,and an effective fuzzy rule for connecting input and output is designed.Third,a visual interface for human-computer interaction was designed.The visual interface can provide users with a more intuitive experience.The graphical interface provides a system control interface and displays commands currently executed by the system,at the same time environmental information around the system is reflected.Last,preliminary clinical trials were conducted using a sensor-based shared control intelligent wheelchair system.First,12 healthy subjects were recruited for control group experiments to verify the reliability and safety of the system.Then,clinical trials of patients with dyskinesia were conducted in a cooperative hospital.A total of 11 subjects successfully completed the test objectives and the system was approved by the patients and doctors.By analyzing the test data and the results of the questionnaire,the system will be more in line with the requirements of clinical applications in the future.