• Proceedings of the Korean Society of Computer Information Conference
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• 2009.01a
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• pp.55-60
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• 2009

본 논문은 복도 영상에서 소실점만으로 방향을 판단하여 주행하는 방법을 제시한다. 허프 변환을 이용하여 추출된 선 성분으로 소실점을 구하고 다양한 경우를 고려하여 회전과 주행 방향을 판단한다. 제안된 방법으로 전동 휠체어를 이용하여 자율 주행을 확인하였다.

• Proceedings of the KOSOMBE Conference
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• v.1994 no.05
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• pp.92-95
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• 1994

We developed electric wheelchair INMEL-VI which is motorized wheelchair for practical use. The field test results of long time show some problems to disabled in daily use. INMEL-VII is designed to solve the problems of INMEL-VI and to adjust condition by the Korean Industrial Standards about the motorized wheelchair. Especially, it is improved to have durability, driving safety, and convenience of manipulating. In the driving field test in indoors and outdoors, it has been estimated to have a high practical use for powered walking aids to disable's daily life.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.919-920
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• 2012

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.580-586
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• 2013

In general, manual wheelchairs have played important roles in moving patients from one place to another. However, patients have experienced discomfort getting on and off because of the need for physical assistance. This can be more serious if a patient has handicaps involving the arms or legs. In addition, it could be unpleasant for both the patient and assistant because of the need for extensive physical contact with each other. At times, a weak nurse feels that there is a risk when transferring a heavy patient from a bed to a wheelchair. In this paper, a new non-powered wheelchair is designed to assist in transferring a patient to their bed. This design considers the convenience of both the patient and assistant when the patient is transferred from a wheelchair to a bed and vice versa. The operation minimizes the physical contact between the assistant and the patient. The new wheelchair is also lightweight and portable compared with the normal popular wheelchair.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• The Journal of the Acoustical Society of Korea
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• v.26 no.6
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• pp.250-258
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• 2007

Current speech recognition technology s achieved high performance with the development of hardware devices, however it is insufficient for some applications where high reliability is required, such as voice control of powered wheelchairs for disabled persons. For the system which aims to operate powered wheelchairs safely by voice in real environment, we need to consider that non-voice commands such as user s coughing, breathing, and spark-like mechanical noise should be rejected and the wheelchair system need to recognize the speech commands affected by disability, which contains specific pronunciation speed and frequency. In this paper, we propose non-voice rejection method to perform voice/non-voice classification using both YIN based fundamental frequency(F0) extraction and reliability in preprocessing. We adopted a multi-template dictionary and acoustic modeling based speaker adaptation to cope with the pronunciation variation of inarticulately uttered speech. From the recognition tests conducted with the data collected in real environment, proposed YIN based fundamental extraction showed recall-precision rate of 95.1% better than that of 62% by cepstrum based method. Recognition test by a new system applied with multi-template dictionary and MAP adaptation also showed much higher accuracy of 99.5% than that of 78.6% by baseline system.

• Journal of Biomedical Engineering Research
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• v.16 no.4
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• pp.543-554
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• 1995

This paper describes the improvement of driving stability and the control system for INMEL-VII which is motorized manual wheelchair to satisfy requirements of the disabled The INMEL-VI was based on high maneuverability of the omnidirection drive and safety But the results of field tests about two years showed some problems to the disabled in daily life such as driving stability, Pm switching noise, and rotation of motor without driving command on negative slope. To solve the problems due to an increased DC motor power and applied to direct connection method in INMEL- VII. It improved the driving circuits and set switching frequency to 5KHz to eliminate the switching noise caused by PWM control of DC motor, As compare with the INMEL-VI, INMEL-VII is improved in driving stability by transfer the weight center to forward. The results of field testing proved the improvement of the driving stability and software algorithm It has been estimated to have a hlgh practical use for powered walking aids to the disabled's daily life.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.8
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• pp.992-999
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• 2011

The recent power add-on drive wheelchairs (PADWs) provide greater physical activity, are easier to transport, and may be an excellent alternative for the typical manual or electric wheelchairs. The development of in-wheel motor for a PADW is the principal issues. In this paper, design, implementation, and testing of the permanent magnet synchronous motor (PMSM) for a PADW are presented. To design output power and torque of the motor, the equation of motion has been investigated. The design parameters were calculated and the dimension and shape of the motor which was limited by the In-wheel mechanism of the PADW were done by applying FEM and optimal design technique. The prototype of the motor mentioned above was fabricated with precise machining and assembling. Then the motor tested on dynamometer and the measured results of the motor were verified by comparing the design results. The fabricated motor was 80 mm in length with a diameter of 110 mm and small enough to be attached the driving unit of the PADW.

• ETRI Journal
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• v.28 no.1
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• pp.111-114
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• 2006

An alternative human interface enabling people with severe motor disabilities to control an assistive system is presented. Since this interface relies on the biosignals originating from the contraction of muscles on the face during particular movements, even individuals with a paralyzed limb can use it with ease. For real-world application, a dedicated hardware module employing a general-purpose digital signal processor was implemented and its validity tested on an electrically powered wheelchair. Furthermore, an additional attempt to reduce error rates to a minimum for stable operation was also made based on the entropy information inherent in the signals during the classification phase. In the experiments, most of the five participating subjects could control the target system at their own will, and thus it is found that the proposed interface can be considered a potential alternative for the interaction of the severely disabled with electronic systems.

• 재활복지
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• v.21 no.2
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• pp.191-216
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• 2017

Recently, according to demands for a mobility right of people with disabilities, the use of powered mobility device has been rapidly increased and recharging facilities have been set up in many places of country. But the standards for the installation and management of the facilities are not clear and many problems are brought up in operating the facilities. Therefore, regulations and realities of recharging facilities were investigated and the user survey was progressed. On the basis of the research results, a rational and efficient installation and management plan was drawn up. The plan suggests that the recharging facilities should be installed in a building managed by government and many kinds of public building like library, theater, sports facilities, department store, museum, etc. Further, the recharging facilities should secure independent place which have specified area for protecting of privacy and provide some amenities for people with disabilities to enhance the conveniences.