1. Parameters & Observations

2. Level 1: Patients Level 2: Physicians User Level Level 3: Developer

3. User Level Level 1: Patients Level 2: Physicians Level 3: Developer

4. Use MobileEyes Change parameters using MobileEyes. MobileEyes screens the parameter, depending on the type of user. All values are recorded in millimeter and second

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

6. Quite fast. Work with speed/velocity parameters Starts and ends with a jerk. Turning (especially through a small angle) is not smooth. Does not go through doorways. Almost runs into obstacles, before coming to a stop. Perhaps parameters for rotation? Padding parameters Main Concerns Perhaps parameters for acceleration?

7.  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 Lists

8. Parameter list – Express Drive Robot Config - a short list of speed related parameters. Path Planning Setting - full list of parameter for Smart Drive.

9. Parameter list - Smart Drive TeleOp Settings - full list of parameter for Smart Drive

10. List of Modified Parameters MaxVel TransAccel TransDecel SideClearanceAtSlowSpeed FrontPaddingAtSlowSpeed FrontPaddingAtFastSpeed ForwardSideClearanceAtSlowSpeed

11. 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.

12. 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.

13. 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.

14. Slows down the wheelchair. Braking distance is 1.5m. In Express Mode: TransDecel = 175 If TransDecel < 175, stops smoothly but overshoots goal. TransDecel

15. Overshooting the Goal

16. 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.

17. 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.

18. 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.

19. Challenges Overcoming the fear of making changes. Could not figure out a way to measure the effect of RotVelMax.

20. Questions?