3 Levels of Interaction Basic User Tasks Intermediate User Tasks Advanced User Tasks

Basic User Tasks - Patient How to Use the GUI How to Start Up the Chair How to Shut Down the Chair How to Recharge the Chair How to Move the Chair By Pushing How to Re-enable the Motors After E-Stop

Definition GUI = Graphical User Interface

GUI The touch screen interface on the chair Will be able to support other devices at later date

Start Up, Shut Down, Recharge Begin from the back of the chair Begin from the screen Begin by unplugging

Move By Pushing Just in case something goes wrong Motors disengaged Lever in back Patient may need to be able to tell someone how

Re-enable the Motors After Emergency Stop Two emergency stop buttons Immediately apply brakes and disable motors Push the rectangular red button to get the motors back Once for joystick Twice to return to normal

Intermediate User Tasks - Doctor/Therapist How to Use X-Windows How to Connect to the Wheelchair from a PC How to Open MobileEyes How to Localize the Robot How to Drive the Robot From MobileEyes How to Change Maps in MobileEyes How to Enable/Disable Goals on the Chair’s Interface

What is X-Windows? A way to display the touch screen graphics on a remote computer

Connect With X-Windows Useful to be able to control the chair remotely as if in chair Ex: For choosing goals

What is MobileEyes? The main way to handle the chair remotely The place to make maps, change goals, and change parameters

Connect Remotely to the Wheelchair And Open MobileEyes Connecting remotely Change your IP address Connect to the network Opening MobileEyes Username and password unnecessary Set the Robot Server

Localization Like using a map and compass – once you’ve found where you are and what direction you’re facing, you’re not lost

Localize the Robot and Use MobileEyes for Driving Localizing Drag robot to correct spot on map and check localization score Repeat as necessary Buttons on top menu bar for Manual and Safe Drive Goal list at bottom left

Change Maps in MobileEyes and Enable/Disable Goals On the Chair's Interface Need to open both Map and LaserLocalizationMap to change maps To enable/disable goals Go to Look & Feel, then Goal List on wheelchair (Or X-Windows) Choose goals from list

Chair Guru Tasks - Administrator/Developer How to Create a New Map How to Create a New Goal on the Map How to Change Parameters

Create a New Map and Create New Goals on the Map Drive the chair around so the upper sensor can create the map With MobileEyes open Split slides here

Edit Map and Create New Goals Clean up the new map Using tools in Mapper3 Add new goals in Mapper3 Save map to Chair

Change Parameters in MobileEyes Got to Tools, then RobotConfig Parameters allow you to change things like the speed of the chair and the size of the padding