• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.331-339
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• 2008

Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path. User has a handheld bio-sensor monitoring system for get user's bio-signal. If user detects unusual signal, alarm send to protector.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.40-45
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• 2006

본 연구에서는 사지마비 장애인이 활용할 수 있는 동작을 이용하여 마우스, 문자 입력, 전동휠체어 제어 등에 활용될 수 있는 인터페이스 기술을 개발하였다. 사지마비 장애인이 활용 가능하면서도 착용이 쉽고 데이터 처리가 용이한 동작으로서 이물기 동작을 제안하였다. 좌측, 우측 및 양측 이물기 동작 및 이물기 시간의 조절을 통해 사지마비 장애인의 경우에도 다양한 명령어 형성이 가능하다. 이때, 이물기 동작의 인식은 관자놀이 부근에 위치한 관자근에서의 근전도 신호를 이용하였다. 본 연구에서는 데이터를 획득하여 전송하고 처리하기 위한 하드웨어와 소프트웨어를 함께, 전동휠체어 제어를 위한 응용 시스템도 개발하였다. 또한 개발된 시스템을 사지마비 장애인에게 적용하여 그 효용성을 평가하였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.836-837
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• 2014

The electric wheelchair is the vehicle system to support the elderly, infirm, and disabled person. Most of the electric wheelchair is used the encoder sensor for controlling the posture, and the encoder generates the defects caused by frequent mechanical friction. To improve the problem, we have designed the electric wheelchair base on triple acceleration sensor, and implemented. And its performance was evaluated through experiments.

• Journal of KIISE:Software and Applications
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• v.36 no.2
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• pp.161-168
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• 2009

In this paper, we develop an Intelligent Wheelchair(IW) control system for the people with various disabilities. The aim of the proposed system is to increase the mobility of severely handicapped people by providing an adaptable and effective interface for a power wheelchair. To facilitate a wide variety of user abilities, the proposed system involves the use of face-inclination and mouth-shape information, where the direction of an Intelligent Wheelchair(IW) is determined by the inclination of the user's face, while proceeding and stopping are determined by the shape of the user's mouth. To analyze these gestures, our system consists of facial feature detector, facial feature recognizer, and converter. In the stage of facial feature detector, the facial region of the intended user is first obtained using Adaboost, thereafter the mouth region detected based on edge information. The extracted features are sent to the facial feature recognizer, which recognize the face inclination and mouth shape using statistical analysis and K-means clustering, respectively. These recognition results are then delivered to a converter to control the wheelchair. When assessing the effectiveness of the proposed system with 34 users unable to utilize a standard joystick, the results showed that the proposed system provided a friendly and convenient interface.

• Journal of Korea Society of Industrial Information Systems
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• v.7 no.3
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• pp.68-73
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• 2002

This study has been advanced to the design method for embodying the hydraulic circuit and control device in considering the safety for the development of wheelchair lift, using in the public transportation bus. Recently, mobility and accessibility occurs for the elder and the handicapped in the aging problem, In this paper, we design the hydraulic power system to operate lifter loading one wheelchair handicapped person and one's supporter to get in the bus. We develop the lifter safely. We check the trajectories of lifter inside frame box to protect its corrosion and the stress at the joints of mechanical structure. Those can be helped to keep the safety and accuracy of the multiple dynamic systems for precision quality assurance in mass production.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2002.06a
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• pp.1-6
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• 2002

This study has been advanced to the design method for embodying the hydraulic circuit and control device in considering the safety for the development of wheelchair lift, using in the public transportation bus. Recently, mobility and accessibility occurs for the elder and the handicapped in the aging problem, In this paper, we design the hydraulic power system to operate lifter loading one wheelchair handicapped person and one's supporter to get in the bus. We develop the lifter safely. We check the trajectories of lifter inside frame box to protect its corrosion and the stress at the joints of mechanical structure. Those can be helped to keep the safety and accuracy of the multiple dynamic systems for precision quality assurance in mass production.

• Journal of Digital Contents Society
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• v.19 no.8
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• pp.1585-1592
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• 2018

Due to un-balancing weight allocation on the wheelchair the existing wheelchair system are faced with the risk of flipping or falling when a wheelchair goes up to a hill. In to order to be safer during riding the wheelchair, in this paper, we proposed a real-time new solution using the integrated Gyro Sensor and Tilt Sensor for controlling the balance. Because the typical property of wheelchair is for the special user who meets the difficulty in moving on foot the maintain the balance of wheel-chair systems have become important and helpful. In our method, we calculate the seat angle using information from Tilt Sensor. However, due to the law of inertia when a wheelchair is moving there is a deviation in the output value of Tilt Sensor. Therefore, we have to optimize the value of the angle by utilizing the acceleration that is the output of the Gyro Sensor. We took the advantages by using the combination of Gyro and Tilt sensors. Moreover, we also solved the consumption issue of the whole system. Through various experimentations with usage of ZigBee sensor module, the power consumption for the balancing system is reduced significantly.

• Journal of the HCI Society of Korea
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• v.1 no.2
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• pp.9-17
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• 2006

We propose an EMG-based input interface technology for helping the tetraplegic to utilize mouse, keyboard and power wheelchair. Among possible actions for the tetraplegic utilizing these devices, teeth-clenching is chosen as an input action. By clenching left, right or both teeth, and controlling the clenching duration, several input commands for utilizing the devices can be conducted. EMG signals generated by teeth-clenching are acquired around one's left and right temples and they are used as control sources for utilizing the devices. We develop signal acquisition devices, signal processing algorithms, and prototype systems such as power wheelchair control, mouse control, and game control. Our experimental results with the tetraplegic show that the proposed method is useful for utilizing the devices.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.940-946
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• 2004

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.