| Summary: | 碩士 === 長庚大學 === 醫療機電工程研究所 === 97 === This paper presents an innovative wheelchair manipulation interface. The proposed wheelchair manipulation interface is developed using two independent translational position sensors instead of a conventional joystick. Especially, two translational position sensors are placed on two arm rests of the wheelchair to measure the wheelchair manipulation commands. Therefore, the proposed manipulation solution performs more easy and straightforward. To avoid collision during driving the wheelchair, infrared (IR) sensor array is used to collect the distance of obstacles in front of the wheelchair. At the same time, a collision avoidance algorithm is developed according to the distances measured from four IR sensors. Because of simultaneously using two hands to manipulate the two translational position sensors on two arm rests, it is possible to place two surface electrodes on the translational position sensor modules to collect the user’s electrocardiography (ECG) when driving the wheelchair. Therefore, the proposed innovative wheelchair manipulation architecture does not only perform straightforward and safe drive solution, but also monitor the user’s heart beats.
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