Development of a Wheelchair Virtual Driving Environment: Trials With Subjects With Traumatic Brain Injury Donald M. Spaeth, PhD, Harshal Mahajan, MS,

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Development of a Wheelchair Virtual Driving Environment: Trials With Subjects With Traumatic Brain Injury Donald M. Spaeth, PhD, Harshal Mahajan, MS, Amol Karmarkar, MS, Diane Collins, PhD, Rory A. Cooper, PhD, Michael L. Boninger, MD Archives of Physical Medicine and Rehabilitation Volume 89, Issue 5, Pages 996-1003 (May 2008) DOI: 10.1016/j.apmr.2007.11.030 Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 1 The virtual driving environment. Subjects sit in a wheelchair; the head position monitor surrounds the back of the head and the isometric joystick or MSJ is adjusted for comfortable access. The display is a 1.2×2.4m (4×8ft) rear-projection screen. The racetrack task is used for familiarization. The investigator's laptop computer is visible in the foreground. Archives of Physical Medicine and Rehabilitation 2008 89, 996-1003DOI: (10.1016/j.apmr.2007.11.030) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 2 A screenshot of the tuning software used to configure the isometric joystick algorithms. A 30-second sample of the hand at rest creates the central bit plot. Four 2-minute samples at cruising speed on the 4 principle directions generate the cross bit plot. The circle and ellipse represent the best-fit transfer functions consistent with the data. Archives of Physical Medicine and Rehabilitation 2008 89, 996-1003DOI: (10.1016/j.apmr.2007.11.030) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 3 The 4 driving tasks used in the TBI trials: left turn, right turn, straight ahead, and docking. The tasks are presented randomly and performed in both forward and reverse directions. Archives of Physical Medicine and Rehabilitation 2008 89, 996-1003DOI: (10.1016/j.apmr.2007.11.030) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 4 Example of wheelchair icon pathways and range of performance; the upper row shows good joystick control, and the lower set shows impaired joystick control. Archives of Physical Medicine and Rehabilitation 2008 89, 996-1003DOI: (10.1016/j.apmr.2007.11.030) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 5 Average RMSE of the wheelchair icon for all 4 tasks in forward and reverse orientations. Abbreviation: IJ, isometric joystick. Archives of Physical Medicine and Rehabilitation 2008 89, 996-1003DOI: (10.1016/j.apmr.2007.11.030) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions

Fig 6 Average speed of wheelchair icon for all 4 tasks in forward and reverse orientations. Archives of Physical Medicine and Rehabilitation 2008 89, 996-1003DOI: (10.1016/j.apmr.2007.11.030) Copyright © 2008 American Congress of Rehabilitation Medicine and the American Academy of Physical Medicine and Rehabilitation Terms and Conditions