Evaluation of semiautonomous navigation assistance system for power wheelchairs with blindfolded nondisabled individuals.

Some individuals with disabilities are denied powered mobility because they lack the visual, motor, and/or cognitive skills required to safely operate a power wheelchair. The Drive-Safe System (DSS) is an add-on, distributed, shared-control navigation assistance system for power wheelchairs intended to provide safe and independent mobility to such individuals. The DSS is a human-machine system in which the user is responsible for high-level control of the wheelchair, such as choosing the destination, path planning, and basic navigation actions, while the DSS overrides unsafe maneuvers through autonomous collision avoidance, wall following, and door crossing. In this project, the DSS was clinically evaluated in a controlled laboratory with blindfolded, nondisabled individuals. Further, these individuals' performance with the DSS was compared with standard cane use for navigation assistance by people with visual impairments. Results indicate that compared with a cane, the DSS significantly reduced the number of collisions. Users rated the DSS favorably even though they took longer to navigate the same obstacle course than they would have using a standard long cane. Participants experienced less physical demand, effort, and frustration when using the DSS as compared with a cane. These findings suggest that the DSS can be a viable powered mobility solution for wheelchair users with visual impairments.

[1]  R. Simpson.  Smart wheelchairs: A literature review. , 2005, Journal of rehabilitation research and development.

[2]  C. Butler.  EFFECTS OF POWERED MOBILITY ON SELF‐INITIATED BEHAVIORS OF VERY YOUNG CHILDREN WITH LOCOMOTOR DISABILITY , 1986, Developmental medicine and child neurology.

[3]  Kenneth S. Holt,et al.  Movement and Child Development , 1975 .

[4]  M. Boninger,et al.  Driving characteristics of electric-powered wheelchair users: how far, fast, and often do people drive? , 2002, Archives of physical medicine and rehabilitation.

[5]  John Craig,et al.  Smart wheelchairs for mobility training , 1996 .

[6]  P. Hancock,et al.  Human Mental Workload , 1988 .

[7]  S. Hart,et al.  Development of NASA-TLX (Task Load Index): Results of Empirical and Theoretical Research , 1988 .

[8]  S. Wainapel,et al.  Use of a motorized wheelchair in conjunction with a guide dog for the legally blind and physically disabled. , 1998, Archives of physical medicine and rehabilitation.

[9]  P J Holliday,et al.  Understanding and measuring powered wheelchair mobility and manoeuvrability. Part I. Reach in confined spaces , 2005, Disability and rehabilitation.

[10]  Å. Brandt,et al.  Older people's use of powered wheelchairs for activity and participation. , 2004, Journal of rehabilitation medicine.

[11]  Shirley G Fitzgerald,et al.  Tips and falls during electric-powered wheelchair driving: effects of seatbelt use, legrests, and driving speed. , 2003, Archives of physical medicine and rehabilitation.

[12]  Sandra G. Hart,et al.  Nasa-Task Load Index (NASA-TLX); 20 Years Later , 2006 .

[13]  T Mills,et al.  Development and consumer validation of the Functional Evaluation in a Wheelchair (FEW) instrument , 2002, Disability and rehabilitation.

[14]  Daniel P. J. Bruneau,et al.  A self-analysis of the NASA-TLX workload measure , 2007, Ergonomics.

[15]  S. Fitzgerald,et al.  Outcomes of Wheelchair Systems Intervention With Residents of Long-Term Care Facilities , 2004, Assistive technology : the official journal of RESNA.

[16]  Zhi-ming Wang,et al.  [The appraisal of reliability and validity of subjective workload assessment technique and NASA-task load index]. , 2005, Zhonghua lao dong wei sheng zhi ye bing za zhi = Zhonghua laodong weisheng zhiyebing zazhi = Chinese journal of industrial hygiene and occupational diseases.

[17]  Beatrice A. Wright,et al.  Physical disability--a psychological approach , 1960 .

[18]  Gail Powell-Cope,et al.  Wheelchair‐related Falls: Current Evidence and Directions for Improved Quality Care , 2005, Journal of nursing care quality.

[19]  S Marshall.  Wheelchair rider injuries: causes and consequences for wheelchair design and selection. , 1997, Journal of rehabilitation research and development.

[20]  Lauren B. Krupp,et al.  Fatigue in Multiple Sclerosis , 2003, CNS drugs.

[21]  H Stephen Kaye,et al.  Demographics and Trends in Wheeled Mobility Equipment Use and Accessibility in the Community , 2010, Assistive technology : the official journal of RESNA.

[22]  Mark Schmeler,et al.  Test-Retest Reliability and Cross Validation of the Functioning Everyday With a Wheelchair Instrument , 2007, Assistive technology : the official journal of RESNA.

[23]  L Fehr,et al.  Adequacy of power wheelchair control interfaces for persons with severe disabilities: a clinical survey. , 2000, Journal of rehabilitation research and development.

[24]  R. Simpson,et al.  How many people would benefit from a smart wheelchair? , 2008, Journal of rehabilitation research and development.

[25]  Dan Ding,et al.  A prototype power assist wheelchair that provides for obstacle detection and avoidance for those with visual impairments , 2005, Journal of NeuroEngineering and Rehabilitation.

[26]  L. Krupp,et al.  Fatigue is intrinsic to multiple sclerosis (MS) and is the most commonly reported symptom of the disease. , 2006, Multiple sclerosis.