مهندسی مکانیک مدرس

مهندسی مکانیک مدرس

طراحی و ساخت رابط پوشیدنی کنترل‌کننده حرکت ویلچر برقی ایستا برای افراد دارای معلولیت حرکتی بوسیله سنسور شتاب و پردازش تصویر چهره کاربر

نوع مقاله : پژوهشی اصیل

نویسندگان
1 گروه مهندسی مکانیک، واحد پردیس، دانشگاه آزاد اسلامی، تهران، ایران
2 گروه مهندسی مکانیک، دانشگاه آزاد اسلامی واحد پردیس، تهران، ایران
چکیده
ویلچرهای برقی هوشمند درحال تبدیل شدن به یک جایگزین طبیعی ویلچرهای معمولی هستند و به‌ عنوان یک وسیله کاربردی برای جمعیت سالمندان و بیماران مبتلا به اختلالات حرکتی و معلولان قطع نخاعی بشمار می‌روند. کنترل ویلچر برقی توسط خود بیمار، وقتی امکان حرکت دست وی فراهم نیست، یکی از مهم‌ترین چالش‌هایی است که برای استفاده مستقل بیمار از این وسیله باید بدان توجه شود. این مقاله به ارائه یک سیستم کنترل حرکتی ساده، کم‌حجم‌، بدون نیاز به پرستار و مقرون‌به‌صرفه اقتصادی می‌پردازد، به‌گونه‌ای که فاکتورهای ایمنی، انعطاف‌پذیری و تحرک را برای کاربر در نظر گرفته است. در این طرح کاربر قادر خواهد بود بدون نیاز به استفاده از دست خود، فرمان‌های کنترل حرکت رو‌به جلو و همچنین چپ و راست را برای ویلچر صادر کند و بدین‌ترتیب مستقلا کنترل دستگاه را برعهده بگیرد. سیستم کنترلر برمبنای تلفیق داده‌های سنسورهای شتاب و سیستم پردازش تصویر طراحی و پیاده‌سازی شده است. برای این منظور و با هدف تعامل ساده‌تر انسان و ماشین، یک گجت پوشیدنی، به صورت یک کلاه، برای سهولت استفاده کاربر دارای معلولیتِ حرکتی طراحی‌شده است که امکان هدایت ویلچر را با توجه به فرمان‌های حرکتی صادرشده توسط سر کاربر و همچنین پردازش تصویر چهره کاربر را داراست. نتایج آزمایش تجربی عملکرد این پوشیدنی کنترلی را برای کم کردن سرعت با خطای 1%، برای افزایش سرعت با خطای 2% ، و برای حرکت به چپ و راست با خطای 5% نشان می‌دهند.
کلیدواژه‌ها

موضوعات


عنوان مقاله English

Design of the Wearable Gadget for Motion Controlling of Electrical Standing Wheelchair for Disable People

نویسندگان English

Kasra Khorsandi 1
Farzad Cheraghpour Samvati 2
1 Department of Mechanical Engineering, Pardis Branch, Islamic Azad University, Tehran, Iran
2 Department of Mechanical Engineering, Pardis Branch, Islamic Azad University, Tehran, Iran
چکیده English

In this paper, a simple and low weight gadget, without the need for a nurse, is designed in a low cost, taking into safety, flexibility and mobility for the user. This paper presents a new system that the controller system is designed and implemented based on the combination of acceleration sensor data and image processing system with the aim of controlling the movement of the smart wheelchair. This design, the user can take control of the smart wheelchair without using hands. This gadget can be a good solution for disabled people to make their life easy.

The results of the smart wheelchair control testing with hybrid controller indicate that the accuracy and speed of the wheelchair response high. The experimental tests suggest that the proposed design of controller gadget is efficient and low cost as well as allowing disabled people to more easily control their wheelchairs and to lead independent lives.

کلیدواژه‌ها English

control gadget
smart wheelchair
Image processing
acceleration sensor
Human-Machine Interaction
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