1. Obstacle avoidance with user in the loop for powered wheelchair 24th April 2012 Part-financed by the European Regional Development Fund 1 Xin JIN research engineer

2. Part-financed by the European Regional Development Fund Review : Objective 2 GOAL :  Design of a electric wheelchair device able to provide mobility to the patient in an indoor environment. CHALLENGES :  Universal devices that should be used on most types of existing electric wheelchairs  Scalable devices depending on the state of the user

3. Part-financed by the European Regional Development Fund 3 Review : wheelchair prototype  slow down the speed of the electric wheelchair according to the distance to obstacles  stop the electric wheelchair at 2cm away from the obstacles The intelligent module must:

4. Part-financed by the European Regional Development Fund 4 Type of protocol situation Review : wheelchair prototype  To pass through a doorway  Speed limitation in case of close obstacles  Crash avoidance in case of fixed obstacles (such a wall)  Obstacle avoidance

5. Part-financed by the European Regional Development Fund 5 Review : The control problem of Electric Wheelchair  No information about the electronics design of the electric wheelchair  2 principal manufacturers of electronic wheelchair (PJ Drive and Dynamic Systems)  No communication standard Solution : use the analog outputs of the joystick

6. Part-financed by the European Regional Development Fund 16/11/2016 6 Review :Hardware Architecture Av_Ar Dr_Ga Compute coefficient according to the distance to obstacles 1 2 Av_Ar_C Dr_Ga_C 3

7. Part-financed by the European Regional Development Fund 7 Review :ISEN Electric Wheelchair 9 US sensors + 4 IR sensors 3 electronics modules with an Atmel microcontroler  sensors module (arduino card)  1 module of visual feedback  joystick modified with additional module

8. Part-financed by the European Regional Development Fund 8 Review : wheelchair prototype Beam angles sensors 2 to 7: 25° sensors 1 and 8: 40° sensor 9: 60° Sensors location

9. Part-financed by the European Regional Development Fund Arduino Mega 2560 12 Connexions to US Sensors 4 Connexions to IR Sensors Connexion to Joystick Module Connexion to Display Module 12V ->5V supply voltage Review :Sensors board

10. Part-financed by the European Regional Development Fund Review :Sensor Module

11. Part-financed by the European Regional Development Fund

12. Part-financed by the European Regional Development Fund Review :wheelchair prototype

13. Part-financed by the European Regional Development Fund Collect data from extended field test ● The wheelchair is being tested in Garches fondation. ● Waiting for the patient's feedback. ● The first feedback of test ● --2 types of users ordinary users : prefer to drive without system disable users : helpful for avoid the risks

14. Part-financed by the European Regional Development Fund Future works Visual feedback : Using Android tablet instead of LED Matrix Intrests : Provide a visual feedback more accurate and direct Easy to be implemented Platform with high computing power

15. Part-financed by the European Regional Development Fund Potentiel field idea 2 3 1 4 Vector 1: joystick vector Vector 2,3: repellent vector Vector 4: corrected vector F_B R_L

16. Part-financed by the European Regional Development Fund Recent works Does it works ? Sensor's accuracy Computing power of chips Multiple obstacles situation

17. Part-financed by the European Regional Development Fund Thank you !