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Types of Self Control Wheelchairs Self-control wheelchairs are used by many disabled people to get around. These chairs are ideal for daily mobility and can easily climb hills and other obstacles. They also have large rear shock-absorbing nylon tires that are flat-free. The translation velocity of the wheelchair was determined by using a local potential field approach. Each feature vector was fed into a Gaussian decoder, which produced a discrete probability distribution. The evidence accumulated was used to trigger visual feedback, as well as a command delivered when the threshold had been reached. Wheelchairs with hand rims The type of wheels a wheelchair is able to affect its mobility and ability to maneuver various terrains. Wheels with hand-rims reduce wrist strain and increase the comfort of the user. Wheel rims for wheelchairs can be made of aluminum steel, or plastic and are available in various sizes. They can be coated with vinyl or rubber for a better grip. Some come with ergonomic features, such as being shaped to accommodate the user's natural closed grip and having wide surfaces that allow for full-hand contact. This lets them distribute pressure more evenly and prevents the pressure of the fingers from being too much. Recent research has shown that flexible hand rims can reduce impact forces, wrist and finger flexor actions during wheelchair propulsion. They also have a wider gripping area than tubular rims that are standard. This allows the user to apply less pressure while still maintaining excellent push rim stability and control. These rims are sold at a wide range of online retailers as well as DME suppliers. The study showed that 90% of the respondents were happy with the rims. However, it is important to keep in mind that this was a mail survey of those who had purchased the hand rims from Three Rivers Holdings and did not necessarily represent all wheelchair users suffering from SCI. lightweight self propelling wheelchair did not assess any actual changes in the severity of pain or symptoms. It simply measured whether people perceived the difference. There are four different models to choose from including the light, medium and big. The light is a small-diameter round rim, whereas the medium and big are oval-shaped. The rims on the prime are a little bigger in diameter and have an ergonomically-shaped gripping surface. All of these rims can be mounted on the front of the wheelchair and are purchased in various colors, ranging from naturalwhich is a light tan shade -to flashy blue, green, red, pink or jet black. They are also quick-release and can be removed to clean or maintain. In addition the rims are covered with a rubber or vinyl coating that helps protect hands from slipping onto the rims and causing discomfort. Wheelchairs with tongue drive Researchers at Georgia Tech have developed a new system that allows users to move a wheelchair and control other digital devices by moving their tongues. It is comprised of a tiny tongue stud and magnetic strips that transmit movements signals from the headset to the mobile phone. The phone converts the signals into commands that can be used to control devices like a wheelchair. The prototype was tested by disabled people and spinal cord injured patients in clinical trials. To evaluate the performance, a group healthy people completed tasks that measured input accuracy and speed. Fittslaw was utilized to complete tasks such as keyboard and mouse use, and maze navigation using both the TDS joystick as well as the standard joystick. A red emergency override stop button was built into the prototype, and a companion was present to help users press the button if needed. The TDS worked just as well as a normal joystick. Another test compared the TDS to what's called the sip-and-puff system, which allows those with tetraplegia to control their electric wheelchairs by blowing air through straws. The TDS was able to perform tasks three times faster and with greater precision than the sip-and-puff. The TDS can drive wheelchairs with greater precision than a person with Tetraplegia, who steers their chair using a joystick. The TDS could track tongue position with an accuracy of less than a millimeter. It also incorporated cameras that recorded the movements of an individual's eyes to detect and interpret their motions. It also came with security features in the software that checked for valid inputs from users 20 times per second. If a valid user signal for UI direction control was not received for a period of 100 milliseconds, interface modules automatically stopped the wheelchair. The next step for the team is to test the TDS on people with severe disabilities. To conduct these trials they have formed a partnership with The Shepherd Center, a catastrophic health center in Atlanta as well as the Christopher and Dana Reeve Foundation. They intend to improve their system's sensitivity to ambient lighting conditions, to include additional camera systems, and to allow repositioning of seats. Wheelchairs with joysticks A power wheelchair that has a joystick allows users to control their mobility device without relying on their arms. It can be placed in the middle of the drive unit, or on either side. The screen can also be used to provide information to the user. Some screens are large and backlit to be more noticeable. Some screens are smaller, and some may include pictures or symbols that can aid the user. The joystick can be adjusted to suit different sizes of hands and grips and also the distance of the buttons from the center. As technology for power wheelchairs developed and advanced, clinicians were able create alternative driver controls that allowed patients to maximize their functional capabilities. These advances allow them to accomplish this in a way that is comfortable for end users. For example, a standard joystick is an input device that uses the amount of deflection on its gimble to provide an output that grows as you exert force. This is similar to how accelerator pedals or video game controllers operate. However this system requires motor control, proprioception and finger strength to be used effectively. A tongue drive system is a different kind of control that makes use of the position of the user's mouth to determine the direction in which they should steer. A magnetic tongue stud sends this information to the headset which can execute up to six commands. It is a great option for people with tetraplegia and quadriplegia. In comparison to the standard joystick, some alternative controls require less force and deflection in order to operate, which is particularly beneficial for those with limited strength or finger movement. Some of them can be operated with just one finger, which makes them ideal for those who can't use their hands at all or have limited movement in them. Some control systems also have multiple profiles that can be adjusted to meet the specific needs of each client. This is essential for new users who may need to adjust the settings regularly when they feel tired or experience a flare-up in a condition. This is useful for experienced users who want to change the parameters set for a particular environment or activity. Wheelchairs with a steering wheel Self-propelled wheelchairs can be utilized by those who have to get around on flat surfaces or climb small hills. They have large rear wheels that allow the user to grasp as they move themselves. Hand rims enable the user to make use of their upper body strength and mobility to move the wheelchair forward or backwards. Self-propelled chairs are able to be fitted with a range of accessories including seatbelts and armrests that drop down. They can also have legrests that can swing away. Certain models can be converted to Attendant Controlled Wheelchairs, which allow family members and caregivers to drive and control wheelchairs for people who need more assistance. Three wearable sensors were connected to the wheelchairs of participants to determine the kinematics parameters. These sensors tracked the movement of the wheelchair for the duration of a week. The gyroscopic sensors mounted on the wheels and one attached to the frame were used to determine wheeled distances and directions. To differentiate between straight forward motions and turns, the period of time when the velocity differences between the left and the right wheels were less than 0.05m/s was considered straight. Turns were then studied in the remaining segments, and the angles and radii of turning were calculated based on the reconstructed wheeled path. A total of 14 participants participated in this study. They were tested for accuracy in navigation and command latency. Through an ecological experiment field, they were asked to navigate the wheelchair through four different waypoints. During the navigation trials sensors tracked the path of the wheelchair over the entire distance. Each trial was repeated at minimum twice. After each trial, participants were asked to choose the direction in which the wheelchair should be moving. The results showed that the majority of participants were able to complete the navigation tasks, even though they did not always follow the right directions. In the average, 47% of the turns were correctly completed. The remaining 23% either stopped immediately following the turn, or redirected into a second turning, or replaced with another straight motion. These results are similar to those from previous research.