Annemarie Kokosy and Matthew Pepper ISEN / EKHUFT April 24 th, 2012 University of Essex 1...
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Annemarie Kokosy and Matthew Pepper ISEN / EKHUFT April 24 th , 2012 University of Essex 1 Part-financed by the European Regional Development Fund Definition of the second scenario for the clinical evaluations
Annemarie Kokosy and Matthew Pepper ISEN / EKHUFT April 24 th, 2012 University of Essex 1 Part-financed by the European Regional Development Fund Definition
Annemarie Kokosy and Matthew Pepper ISEN / EKHUFT April 24 th,
2012 University of Essex 1 Part-financed by the European Regional
Development Fund Definition of the second scenario for the clinical
evaluations
Slide 2
Part-financed by the European Regional Development Fund Plan of
presentation I. Why we must define and agree the scenario? II.
Project plan III. Clinical goals IV. Future challenges and the work
to be done V. Main goals 2
Slide 3
Part-financed by the European Regional Development Fund Why we
must define and agree the scenario? For a collaborative cross
border work, it is necessary to have a common objective For a more
effective work accelerating the implementation of the algorithms on
the powered wheelchair from ISEN and University of Kent, we must
define the inputs and outputs of each partner We must take into
account the users needs expressed through the European survey (end
date: April 30 th for the French side) We must work in
collaboration with the medical staff from EKHUFT and GHICL 3
Slide 4
Part-financed by the European Regional Development Fund Why we
must define and agree the scenario? At the end of the project we
must have implemented on the powered wheelchair from ISEN or
University of Kent the results from each activity 4
Slide 5
Part-financed by the European Regional Development Fund Project
plan Time line 55 Feb/2012Aug/2012Feb/2013Aug/2013 31Dec/2013 End
1st scenario (collision avoidance) Technical work
4/126/1210/1212/124/136/1310/1312/13 Clinical trials 2nd scenario
(assisted navigation in semi-autonomous way) 3rd scenario
(autonomous navigation) Technical work Clinical trials Technical
work Clinical trials Ethics Approval April 24 th, 2012
Slide 6
Part-financed by the European Regional Development Fund
Clinical goals Second scenario Assisted/Semi-autonomous Navigation
First evaluation: environment without obstacles - pass along a
corridor and through a doorway and stop in front of a table/desk
(user in the loop); Second evaluation: environment with obstacles -
pass along a corridor and through a doorway and stop in front of a
table/desk (user in the loop); Evaluations at University of Kent
and EKHUFT with healthy people Clinical evaluations at GHICL The
project will be a success if this is achieved 66
Slide 7
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Step 1: Develop the hardware and
software for the detection of the doors (minimal dimension of the
door is 90cm) and tables ISEN: system with IR and US (works only if
the wheelchair is in front of door) UoK - Michel: will try to
detect by using a camera (to be developed) Step 2: Two switches:
one to turn on/off the interface device (called SYSIASS) and the
second to turn on/off the wheelchair 77
Slide 8
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Step 3: Develop software for
assisted navigation along a corridor and through a doorway ISEN:
potential field (in progress) UoK - Michel: localised potential
field (to be developed) Step 4: Develop software to store, analyse
and present that data. Data to store: what the user doing, what the
device doing, sensors, time What user doing: direction and
amplitude What the device doing: modified amplitude, direction All
sensors: to be done Time: to be done 88
Slide 9
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Step 5: Visual feedback (how the
device is intervening) or voice or vibrations Jean Marc: visual
feedback and vibration Michel: the voice approach (especially the
sentences) if he wants Step 6: Secure Data Transmition (John,
Gareth, Jenya, Klaus) Step 7: Drive the wheelchair using the
multi-modal HMI (Huosheng, Lei Wei, Dongbing Gu, Theo and Ericka
Rechy- Ramirez) 99
Slide 10
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Work within the requirements of
the Medical Devices Directive - MDD 93/42/EEC [rev 2007] Get
permission from University of Kent for evaluations with healthy
people Clinical evaluations at GHICL (the Hospital of Garches has
not funds) Sign a licence agreement with DynamicControl Wheelchair
Users Questionnaire for the English side 10
Slide 11
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Project strategy ( decision on
March 29 th, 2012 University of Kent ) 11 Joystick DynamicControl
electronics CAN-DX BUS Joystick board Wheelchair intelligence board
Sensors Analog signals Digital signals Will be replaced by Serial
GPSB Module from DynamicControl 11
Slide 12
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Project strategy ( decision on
March 29 th, 2012 University of Kent ) 12 Joystick DynamicControl
electronics CAN-DX BUS Serial GPSB Module Sensors board Wheelchair
intelligence board (PC or mother board) Sensors
Slide 13
Part-financed by the European Regional Development Fund Future
challenges and the work to be done Project strategy ( decision on
March 29 th, 2012 University of Kent ) 13 Multi-modal HMI
DynamicControl electronics CAN-DX BUS Serial GPSB Module Sensors
board Wheelchair intelligence board (PC or mother board)
Sensors
Slide 14
Part-financed by the European Regional Development Fund Main
goals 14 Activity 1 Localization and perception using monocular
camera/Kinect/odometers/US/IR System modeling and identification
using the dynamic model of powered wheelchair Navigation using
A*/potential field/nonlinear dynamic optimization Robust control
using sliding mode
Slide 15
Part-financed by the European Regional Development Fund Main
goals 15 Activity 2 Development of ICMetrics boards using PIC or
Arduino & ARM Development of an experimental platform for
feature collection and analysis Design of a flexible and secure
channel using Shamir secret sharing technology in conjunction with
the ICmetric system Activity 3 Development of a multi-modality HMI
using facial muscle signals (EMG) and face image information
Slide 16
Part-financed by the European Regional Development Fund Main
goals 16 Activity 3: powered wheelchair prototype clinical trials
of the first scenario at the Hospital of Garches second powered
wheelchair equipped with US/IR/Arduino at ISEN third powered
wheelchair equipped with PC/IR/US at University of Kent own powered
wheelchair equipped with PC/camera/sensors at University of
Essex