18-09-2014, 11:53 AM
OCULOGRAPHIC GUIDANCE OF WHEEL CHAIR
[attachment=68098]
ABSTRACT:
This paper presents a new method to control and guide mobile robots. In this case, to send different commands we have used electrooculography (EOG) techniques, so that, control is made by means of the ocular position (eye displacement into its orbit). An inverse eye model is developed based in electrooculography and therefore the saccadic eye movements can be detected and know where user is looking. This control technique can be useful in multiple applications, but in this work it is used to guide an autonomous robot (wheelchair) as a system to help to people with severe disabilities. The system consists of a standard electric wheelchair with an on-board computer, sensors and graphical user interface running on a computer.
INTRODUCTION:
Assistive robotics can improve the quality of life for disable people. Nowadays, there are many help systems to control and guide autonomous mobile robots. All this systems allow their users to travel more efficiently and with greater ease. In the last years, the applications for developing help systems to people with several disabilities are increased, and therefore the traditional systems are not valid. In this new systems, we can see: videooculography systems (VOG) or infrared oculography (IROG) based on detect the eye position using a camera there are several techniques based in voice recognition for detecting basic commands to control some instruments or robots; the joystick (sometimes tactil screen) is the most popular technique used to control different applications by people with limited upper body mobility but it requires fine control that the person may be have difficulty to accomplish. All this techniques can be applied to different people according to their disability degree, using always the technique or techniques more efficiently for each person. This paper reports work in the development of a robotic wheelchair system based in electrooculography. Our system allows the users to tell the robot where to move in gross terms and will then carry out that navigational task using common sensical constraints, such as avoiding collision
EOG:
EOG is a method for sensing eye movement and is based on recording the standing corneal-retinal potential arising from hyper polarizations and depolarizations existing between the cornea and the retina; this is commonly known as an electrooculogram .This potential can be considered as a steady electrical dipole with a negative pole at the fundus and a positive pole at the cornea [see Fig. 1(a)]. The standing potential in the eye can thus be estimated by measuring the voltage induced across a system of electrodes placed around the
EYE MODEL BASED IN EOG (BIDIM-EOG):
Our aim is to design a system capable of obtaining the gaze direction detecting the eye movements. For this, a model of the ocular motor system based on electrooculography is proposed (figure 2) (Bidimensional dipolar model EOG, BiDiM-EOG). This model allows us to separe saccadic and smooth eye movements and calculates the eye
GUIDANCE OF A WHEELCHAIR USING COMMANDS GENERATED BY EYE MOVEMENTS DETECTED USING ELECTROOCULOGRAPHY
The aim of this control system is to guide an autonomous mobile robot using the positioning of the eye into its orbit by means of EOG signal. In this case, the autonomous vehicle is a wheelchair for disable people. Figure 4 shows the wheelchair used. Figure 5 shows a diagram of the control system. The EOG signal is recorded using Ag-AgCl electrodes and this data, by means of an acquisition system are sent to a PC, in which they are processed to calculate the eye gaze direction. Then, in accordance with the guidance control strategy, the control commands of the wheelchair are sent. The command sent to the wheelchair is the separate linear speed for each wheel. It is possible to see that exists a visual feedback in the system by means of a tactile screen that the user has in front of him. Where the
CONCLUSIONS:
This research project is aimed towards developed a usable, low-cost assistive robotic wheelchair system for disabled people. In this work, we present a system that can be used as a means of control allowing the handicapped, especially those with only eye-motor coordination, to live more independent lives. Eye movements require minimum effort and allow direct selection techniques, and this increase the response time and the rate of information flow. Some of the previous wheelchair robotics research are restricted a particular location and in many areas of robotics, environmental assumptions can be made that simplify the navigation problem
[attachment=68098]
ABSTRACT:
This paper presents a new method to control and guide mobile robots. In this case, to send different commands we have used electrooculography (EOG) techniques, so that, control is made by means of the ocular position (eye displacement into its orbit). An inverse eye model is developed based in electrooculography and therefore the saccadic eye movements can be detected and know where user is looking. This control technique can be useful in multiple applications, but in this work it is used to guide an autonomous robot (wheelchair) as a system to help to people with severe disabilities. The system consists of a standard electric wheelchair with an on-board computer, sensors and graphical user interface running on a computer.
INTRODUCTION:
Assistive robotics can improve the quality of life for disable people. Nowadays, there are many help systems to control and guide autonomous mobile robots. All this systems allow their users to travel more efficiently and with greater ease. In the last years, the applications for developing help systems to people with several disabilities are increased, and therefore the traditional systems are not valid. In this new systems, we can see: videooculography systems (VOG) or infrared oculography (IROG) based on detect the eye position using a camera there are several techniques based in voice recognition for detecting basic commands to control some instruments or robots; the joystick (sometimes tactil screen) is the most popular technique used to control different applications by people with limited upper body mobility but it requires fine control that the person may be have difficulty to accomplish. All this techniques can be applied to different people according to their disability degree, using always the technique or techniques more efficiently for each person. This paper reports work in the development of a robotic wheelchair system based in electrooculography. Our system allows the users to tell the robot where to move in gross terms and will then carry out that navigational task using common sensical constraints, such as avoiding collision
EOG:
EOG is a method for sensing eye movement and is based on recording the standing corneal-retinal potential arising from hyper polarizations and depolarizations existing between the cornea and the retina; this is commonly known as an electrooculogram .This potential can be considered as a steady electrical dipole with a negative pole at the fundus and a positive pole at the cornea [see Fig. 1(a)]. The standing potential in the eye can thus be estimated by measuring the voltage induced across a system of electrodes placed around the
EYE MODEL BASED IN EOG (BIDIM-EOG):
Our aim is to design a system capable of obtaining the gaze direction detecting the eye movements. For this, a model of the ocular motor system based on electrooculography is proposed (figure 2) (Bidimensional dipolar model EOG, BiDiM-EOG). This model allows us to separe saccadic and smooth eye movements and calculates the eye
GUIDANCE OF A WHEELCHAIR USING COMMANDS GENERATED BY EYE MOVEMENTS DETECTED USING ELECTROOCULOGRAPHY
The aim of this control system is to guide an autonomous mobile robot using the positioning of the eye into its orbit by means of EOG signal. In this case, the autonomous vehicle is a wheelchair for disable people. Figure 4 shows the wheelchair used. Figure 5 shows a diagram of the control system. The EOG signal is recorded using Ag-AgCl electrodes and this data, by means of an acquisition system are sent to a PC, in which they are processed to calculate the eye gaze direction. Then, in accordance with the guidance control strategy, the control commands of the wheelchair are sent. The command sent to the wheelchair is the separate linear speed for each wheel. It is possible to see that exists a visual feedback in the system by means of a tactile screen that the user has in front of him. Where the
CONCLUSIONS:
This research project is aimed towards developed a usable, low-cost assistive robotic wheelchair system for disabled people. In this work, we present a system that can be used as a means of control allowing the handicapped, especially those with only eye-motor coordination, to live more independent lives. Eye movements require minimum effort and allow direct selection techniques, and this increase the response time and the rate of information flow. Some of the previous wheelchair robotics research are restricted a particular location and in many areas of robotics, environmental assumptions can be made that simplify the navigation problem