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Parameters & Observations. User Level. Level 1: Patients. Level 2: Physicians. Level 3: Developer. User Level. Level 1: Patients. Level 2: Physicians. Level 3: Developer. Use MobileEyes. Change parameters using MobileEyes .

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Parameters & Observations


User Level

Level 1:

Patients

Level 2: Physicians

Level 3: Developer


User Level

Level 1:

Patients

Level 2: Physicians

Level 3: Developer


Use MobileEyes

Change parameters using MobileEyes.

MobileEyes screens the parameter, depending on the type of

user.

All values are recorded in millimeter and second


The Higher Parameters

To access the parameters that have any significant change in the behavior of the chair, the Parameter Priority has to be set to Expert.


Main concerns
Main Concerns

  • Quite fast.

Work with speed/velocity parameters

Starts and ends with a jerk.

Perhaps parameters for acceleration?

Turning (especially through a small angle) is

not smooth.

Perhaps parameters for rotation?

Does not go through doorways.

Padding parameters

Almost runs into obstacles, before coming

to a stop.

Padding parameters


Parameter Lists

  • Each Drive Mode has a different set of parameters e.g.

  • Changing parameter in one list, has no effect on the parameters of the other list, even though the parameters may have the same name.


Parameter list – Express Drive

  • Robot Config - a short list of speed relatedparameters.

  • Path Planning Setting - full list of parameter for Smart Drive.


Parameter list - Smart Drive

  • TeleOp Settings - full list of parameter for Smart Drive


List of Modified Parameters

  • MaxVel

  • TransAccel

  • TransDecel

  • SideClearanceAtSlowSpeed

  • FrontPaddingAtSlowSpeed

  • FrontPaddingAtFastSpeed

  • ForwardSideClearanceAtSlowSpeed


Procedural Standards

  • Did test trials: Number of test trials ranged

  • from 6 to 15.

  • All test trials were done over a distance of 20ft.

  • When testing each parameter:

  • simulate a hospital setting.

  • judged from a patient’s point of view.


MaxVel

  • Controls the speed of the chair directly.

  • In Express Drive:

    MaxVel = 600

    On average  8.3sec to cover a distance of 20ft.

  • In Smart Drive:

    MaxVel = 900

    On average  8.6sec to cover a distance of 20ft.


TransAccel

  • Increasing the value, decreases the time taken by the wheelchair to reach maximum speed.

  • In ExpressMode:

  • TransAccel = 425

  • Lower value results in jerkier start.


TransDecel

  • Slows down the wheelchair.

  • Braking distance is 1.5m.

  • In Express Mode:

  • TransDecel = 175

  • If TransDecel < 175, stops smoothly but overshoots goal.


TransDecel

Overshooting the Goal


Side padding
Side Padding

  • Any object at this specified distance from its side, is considered an obstacle.

  • In Express Drive:

    SideClearanceAtSlowSpeed = 50

  • In Smart Drive:

    ForwardSideClearanceAtSlowSpeed = 25

  • Both values set to allow the wheelchair to go through door ways.


Front padding
Front Padding

  • Any object at this specified distance from its front, is considered an obstacle.

  • In Express Drive:

    FrontPaddingAtSlowSpeed = 300

  • Applies when speed < than MaxVel.

    FrontPaddingAtFastSpeed = =500

  • Applies only if speed of wheelchair is at maximum.


Results
Results

  • Starting and ending are smoother.

  • Speed is comfortable.

  • Can go through door ways which are at least 33.5 inches (851mm) wide.

  • Stops at a safe distance from the obstacle.

  • Turning is smoother than before but still a bit jerky.


Challenges
Challenges

  • Overcoming the fear of making changes.

  • Could not figure out a way to measure the effect of RotVelMax.



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