Assistance la conduite dun fauteuil roulant : rsultats de tests et - - PowerPoint PPT Presentation

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Assistance à la conduite d’un fauteuil roulant : résultats de tests et travaux futurs

Innovation, Robotique et Santé : Assistance à la conduite de fauteuil roulant, Rennes, 9 décembre 2016

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Rennes, 9 décembre 2016

Device for semi-autonomous assisted navigation

• Invacare wheelchair
• Dynamic Controls electronics system
• 9 US sensors
• 4 IR sensors
• visual feedback on PC

 mainly used for debugging

Objectives

• the user sets the main direction
• the wheelchair deviates around an obstacle

 corridor travelling is eased  passing through a doorway is eased Methodology “potential field” (the wheelchair is “pushed away” by obstacles)

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Methodology of tests

PWC activity  focus on developing a methodology of testing AT Participants: 12 disabled persons in 4 countries

Canterbury – UK (March 2015) Vlissingen – The Netherlands (April 2015) Lomme – France (May 2015) Gits – Belgium (May 2015)

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PWC Activity - Participants

• 12 powered chair users

– 6 male and 6 female; 2English, 2 Dutch, 4 French, 4 Belgians – Ages: ranging between 17 and 64 – Diagnosis: 3 MS, 2 Brain Injury, 2Duchenne MD, Cerebral Palsy, Left side paralysis following stroke, Tetraplegia – Number of years using a PWC: 1 to 16 – Have they received training to drive the powered chair?

• YES: 1 UK/ 0 NL/ 3 FR/ 1 B

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PWC Activity - Methodology

• Step 1 – 2 pre-session questionnaires
• Technical questionnaire exploring the user experience of

PWC use and their expectations for a driving assistance system

• Ethics questionnaire exploring the user view point on

– How the use of PWC in a daily life enhances and is compatible with good care – What are their feelings by being ask to participate to the tests

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PWC Activity - Methodology

• Step 2 – The driving session on a simulated

indoor test course

• Drive with [A] and without [B] Driving Assistance - ABABABAB
• Data from Observers
• Data from the PWC

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PWC Activity - Methodology

• Step 3 – Semi-structured interview using Post-

session technical and ethics questionnaires to provide participant feedback on their experience and to collect ideas on how the driving assistance system and the evaluation process might be improved

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PWC Activity - Methodology

• Step 4 – NASA Task Load Index Questionnaire

used after the tests to compare the mental and physical activities, time pressure, performance, effort and frustration between driving the PWC with and without the driving assistance device.

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Test results

Run: A=System On, B=Off

Country N°

Diagnosis

Ability to drive

1A 1B 2A 2B 3A 3B 4A 4B UK

1

Cerebral Palsy

10/10

1 3 1 1 UK

2

Left side paralysis following stroke

10/10

2 2 2 2 1 3 NL

3

Duchenne MD

10/10

1 NL

4

Duchenne MD

10/10

1 FR

5

Brain Injury

8/10

3 1 2 2 1 4 2 FR

6

MS

8/10

2 1 1 2 1 3 3 2 FR

7

MS

9/10

4 1 4 4 4 3 5 FR

8

Brain Injury

5/10

5 4 3 3 3 5 5 B

9

Cerebral palsy

7/10

1 2 1 1 2 2 4 2 B

10

Not known

4/10

3 2 4 3 5 3 3 4 B

11

MS

9/10

2 3 2 2 1 2 1 1 B

12

Tetraplegia

9/10

3 1 1 1 3 1

1 1.5 2 2.5 3 3.5 4 100 120 140 160 180 200 220 Number of run Time to complete course with using the DAS [s] Participant 1 Participant 2 Participant 3 Participant 4 Participant 5 Participant 6 Participant 7 Participant 8 Participant 9 Participant 10 Participant 11 Participant 12

Participant 7 – le dispositif apporte une aide; le temps de parcours met en évidence la fatigue Participants 8 & 10 – le dispositif apporte de plus en plus d’aide; le temps de parcours met en évidence l’apprentissage

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User feedback of chair development

• A rear-view camera for reversing
• Autonomous chair for transfers to and from a bed or

chair

• Use of the Driving Assistance system as a training

aid for experienced users in new environments

• Feedback to the user

– requires a range of options is necessary to suit each user, a combination is also useful so that the user can focus on driving and then look at a display for more information if so required – the type of feedback has to be adapted to the user’s needs

• Detection of kerbs and potholes

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Ethics questionnaire results

• Good care: organised around respect, autonomy, empowerment and

communication

• Autonomy

Communication

Item Score Before tests (/10) Score After test (/10) Time Giving 7 6 Explaining information 7 6 Understanding information 4 8 Verbal communication 5 1 Non-verbal communication 5 3 Item Score Before tests (/9) Score After test (/10) Having choice 7 6 Independance 6 6 Making decision 4 5 Being able to make decision 3 5 Giving choice 3 2

Other stakeholders (28 participants)

• Having choice
• Being able to make decision
• Independance

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PWC Activity - Conclusion

• Necessity to use semi-structured interviews 

allows to obtain rich feedback from the participants

• Necessity to train the interviewer
• Ensure that the participants have enough time to

finish all the assessments in a relaxed way

• Fill-in the pre-session questionnaires the day before

the tests

• This methodology as well as the questionnaires

can now be adapted for the development and assessment of any assistive technology.

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Future project: EDUCAT

Empowerment of Disabled people through the User Coproduction of Assistive Technology (2016-2020)

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End User Care Giver Vendor Researcher Engineer

Assistive technology

Data recording system Integrated Obstacle alerting system Adaptable Assistive Mobility System Driving assistance to park the PWC Body sensors Environment sensors

EDUCAT Data storage

Hardware devices Communication layer Back-end Benefits

• Improved

intervention

• Improved

rehabilitation

• Higher

independence

• Improved

Quality of Life

• Shorter time

to market

• Cost and time

savings

• Increased

market

• pportunities

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• Starting on 1/09/2016
• End-users
• Companies
• Academics
• Healthcare professionnals
• Service providers
• …
• Contribute to existing ideas (via

forums)

• Test (co-creation sessions, prototype

testing, questionnaires)

• Submit a new idea
• Succes stories, news
• …
• Voice of end-user/User experiences
• Cross-collaboration between all

stakeholders

• Possibility to give to /get feedback

from academics, SMEs, service providers, …

• Information

Why? How? When? Who?

Co-creation methodology

e-Platform

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www.sysiass.eu http://edect.weebly.com/

For more information

www.educat2seas.eu 2011-2014 2014-2015 2016-2020