Devices for Mobility and Manipulation for People with Reduced Abilities

222 Pages·2014·10.17 MB·English

by  Teodiano Freire Bastos-Filho

Biomedical Engineering AKB
rjunanumar astos-F
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Devices for Mobility o
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and Manipulation
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for People with
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Reduced Abilities o
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The development and application of assistive technology can help those b
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with reduced abilities improve their quality of life and reduce their li
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dependence on others. Written in layman’s terms, Devices for Mobility y

and Manipulation for People with Reduced Abilities provides research a
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and information on assistive technologies for non-technical people.
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While it highlights various mobility and manipulative technologies, with
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the exception of specific examples within the text, it keeps technical
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terminology, equations, and software details to a minimum. It presents
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technical material in a digestible way for people with reduced abilities as ip
well as for their caregivers. u
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Each chapter covers a specific technology, and starts with a general t
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introduction of that technology, followed by the technical details and an n
assessment from the user’s viewpoint. This includes the user benefits
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and suitability, cost, reliability, and required infrastructure. The chapter
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also provides illustrations or photographs of the devices, and identifies
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shortcomings, current research related to the technology, and possible e
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development opportunities. Each chapter provides the range of
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specifications for the equipment and includes a list of manufacturers. l
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• Discusses user advantages and conditions w
• Examines technologies for robotic wheelchairs and prostheses it
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• Helps a clinician or user understand the different devices that

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support people with disabilities
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This book provides clinicians, users, and engineers with the details of d
u
different technologies, and also includes a guide to the technology that c
underpins each of these devices, making it easier for people to understand e
d
the devices. References are also included for scientists, designers, and
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other tech-savvy professionals interested in further information.
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K20293
ISBN: 978-1-4665-8645-1
90000
9 781466586451
K20293_COVER_final.indd 1 3/26/14 1:31 PM

Rehabilitation Science in Practice Series
Series Editors
Marcia J. Scherer, Ph.D. Dave Muller, Ph.D.
President Executive
Institute for Matching Person and Technology Suffolk New College
Professor Editor-in-Chief
Orthopaedics and Rehabilitation Disability and Rehabilitation
University of Rochester Medical Center Founding Editor
Aphasiology

Published Titles
Assistive Technology Assessment Handbook, edited by Stefano Federici
and Marcia J. Scherer
Assistive Technology for Blindness and Low Vision, Roberto Manduchi
and Sri Kurniawan
Computer Access for People with Disabilities: A Human Factors Approach,
Richard C. Simpson
Computer Systems Experiences of Users with and Without Disabilities:
An Evaluation Guide for Professionals, Simone Borsci, Maria Laura Mele,
Masaaki Kurosu, and Stefano Federici
Devices for Mobility and Manipulation for People with Reduced Abilities,
Teodiano Bastos-Filho, Dinesh Kumar, and Sridhar Poosapadi Arjunan
Multiple Sclerosis Rehabilitation: From Impairment to Participation,
edited by Marcia Finlayson
Paediatric Rehabilitation Engineering: From Disability to Possibility,
edited by Tom Chau and Jillian Fairley
Quality of Life Technology Handbook, Richard Schultz
Forthcoming Titles
Ambient Assisted Living, Nuno M. Garcia, Joel Jose P. C. Rodrigues, Dirk Christian Elias,
and Miguel Sales Dias
Cognitive Rehabilitation, edited by Charles J. Robinson
Rehabilitation Goal Setting: Theory, Practice and Evidence, edited by Richard Siegert
and William Levack
Rethinking Rehabilitation Theory, edited by Kathryn McPherson, Barbara Gibson,
and Alain Leplege

CRC Press
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Version Date: 20140320
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Contents
ListofTables.....................................................vii
ListofFigures.....................................................ix
Foreword.........................................................xv
1. Introduction...................................................1
TeodianoFreireBastos-FilhoandDineshKantKumar
2. Wheelchairs ................................................... 7
TeodianoFreireBastos-FilhoandDineshKantKumar
3. SmartWheelchairs............................................15
Andre´ Ferreira,SandraMu¨ller,WanderleyCeleste,DanielCavalieri,
AlessandroBenevides,PatrickFilgueira,PauloAmaral,
Ma´rioSarcinelli-Filho,TeodianoFreireBastos-Filho,ElisaPerez,
andCarlosSoria
4. NavigationSystemforUFES’sRoboticWheelchair...........41
FernandoCheein,CelsoDeLaCruz,EdgardGuimara˜es,
TeodianoFreireBastos-Filho,andRicardoCarelli
5. AssistedRoutePlannerforaRoboticWheelchair.............97
MarianaRampinelliFernandes,PauloAmaral,RaquelFrizeraVassallo,
TeodianoFreireBastos-Filho,DanielPizarro,JuanCarlosGarcia,
andManuelMazo
6. Walkers......................................................123
AnselmoFrizera-Neto,ArlindoElias-Neto,CarlosCifuentes,
CarlosValada˜o,ValmirSchneider-Junior,CamiloDi´az,
TeodianoFreireBastos-Filho,andRicardoCarelli
7. ManipulationTechnologiesforDeveloping
CognitiveSkills..............................................147
CarlosValada˜o,JhonSarmiento-Vela,ChristianeGoulart,JavierCastillo,
andTeodianoFreireBastos-Filho
v
vi Contents
8. Upper-LimbProstheticDevices ............................. 163
SridharPoosapadiArjunan,DineshKantKumar,LeandroBueno,
JohnVillarejo-Mayor,andTeodianoFreireBastos-Filho
Appendix CountrieswithDisabilityPrograms ................ 179
DineshKantKumarandTeodianoFreireBastos-Filho
Index............................................................197
List of Tables
4.1 ProsandConsoftheSLAMandtheMetallicTapes
Approaches. . . . . . . . . . . . . . . . . . . . . . . . . 49
5.1 Analysis of Robot Position: Comparison Between
Odometry and Computer Vision Measurement by
Mean Square Error (MSE), Standard Deviation, and
CorrelationWiththeManualMeasurement. . . . . . . 109
5.2 Analysis of Robot Orientation: Comparison Between
Odometry and Computer Vision Measure by Mean
Square Error (MSE), Standard Deviation, and Corre-
lationWiththeManualMeasure. . . . . . . . . . . . . 110
5.3 Analysis of Robot Position: Comparison Between
OdometryandComputerVisionMeasurement. . . . . 112
5.4 Analysis of Robot Orientation: Comparison Between
OdometryandComputerVisionMeasurement. . . . . 113
6.1 Feature-BasedClassificationofSmartWalkers. . . . . 131
7.1 GoalAttainmentScalingforTwoGoals. . . . . . . . . 159
8.1 VariousTypesofUpper-LimbProsthesis.. . . . . . . . 166
vii

List of Figures
1.1 Signals adopted in different human–machine in-
terfaces and the corresponding levels of capacity.
Adaptedfrom[4]. . . . . . . . . . . . . . . . . . . . . . 4
3.1 Structureofthedevelopedhuman–machine
interface. . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2 Differentoptionsofmovementcommands(arrowsof
movementorsymbolsrepresentingplaces)presented
onthePDAscreenonboardthewheelchair. . . . . . . 27
3.3 sEMGAcquisition(eyeblinks).(a)Up:myoelectricsig-
nal due to blinks of the right eye; (b) Down: blinks of
thelefteye. . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4 InclinationsensorbasedonIMUboardattachedto(a)
cap;(b)headband. . . . . . . . . . . . . . . . . . . . . . 29
3.5 Facialfeatures. . . . . . . . . . . . . . . . . . . . . . . . 30
3.6 Robotic wheelchair commanded by head/face move-
ments(capturedbyavideocamera). . . . . . . . . . . 31
3.7 Roboticwheelchaircommandedbyblowing
andsucking. . . . . . . . . . . . . . . . . . . . . . . . . 32
3.8 Roboticwheelchaircommandedbyeye
movements. . . . . . . . . . . . . . . . . . . . . . . . . 33
3.9 EEG acquisition on the occipital region, showing
different energies of the EEG signal, due to (a) visual
excitation (suppression of alpha rhythm) and visual
relaxation(activationofalpharhythm);(b)equivalent
ERD/ERSpatterns. . . . . . . . . . . . . . . . . . . . . 35
3.10 EEG signal with two thresholds used to get the right
commands. . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.11 Roboticwheelchaircommandedbymentaltasks. . . . 36
3.12 RoboticwheelchaircommandedbySSVEP,according
tothestripe(top,bottom,left,andright)gazedonby
theuser. . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
ix