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Types of Self Control Wheelchairs Self-control wheelchairs are utilized by many people with disabilities to get around. These chairs are great for everyday mobility and can easily overcome obstacles and hills. They also have large rear shock-absorbing nylon tires that are flat-free. The translation velocity of the wheelchair was calculated using a local potential field approach. Each feature vector was fed to an Gaussian decoder, which produced a discrete probability distribution. The evidence accumulated was used to drive the visual feedback, and a command was delivered when the threshold was reached. Wheelchairs with hand-rims The type of wheel a wheelchair is using can affect its ability to maneuver and navigate different terrains. Wheels with hand rims can help reduce wrist strain and provide more comfort to the user. A wheelchair's wheel rims can be made of aluminum plastic, or steel and are available in a variety of sizes. They can be coated with vinyl or rubber for better grip. Some are designed ergonomically, with features such as shapes that fit the grip of the user and broad surfaces to provide full-hand contact. This lets them distribute pressure more evenly and reduce the pressure of the fingers from being too much. A recent study revealed that flexible hand rims decrease the impact force and wrist and finger flexor activity when using a wheelchair. They also provide a larger gripping surface than tubular rims that are standard, allowing the user to exert less force while maintaining good push-rim stability and control. These rims are available at a wide range of online retailers as well as DME suppliers. The study showed that 90% of respondents were happy with the rims. However it is important to remember that this was a postal survey of people who had purchased the hand rims from Three Rivers Holdings and did not necessarily represent all wheelchair users with SCI. The survey did not examine the actual changes in pain or symptoms, but only whether the people felt that there was that they had experienced a change. These rims can be ordered in four different designs which include the light, big, medium and prime. The light is a smaller-diameter round rim, while the medium and big are oval-shaped. The rims that are prime have a slightly bigger diameter and an ergonomically contoured gripping area. These rims are able to be fitted on the front wheel of the wheelchair in a variety of shades. They include natural light tan, and flashy greens, blues, pinks, reds, and jet black. They are also quick-release and can be easily removed for cleaning or maintenance. Additionally, the rims are coated with a rubber or vinyl coating that protects hands from slipping onto the rims and causing discomfort. Wheelchairs with a tongue drive Researchers at Georgia Tech developed a system that allows users of a wheelchair to control other devices and move it by moving their tongues. It consists of a small magnetic tongue stud, which transmits movement signals to a headset that has wireless sensors as well as a mobile phone. The smartphone converts the signals to commands that can be used to control the device, such as a wheelchair. The prototype was tested with disabled people and spinal cord injury patients in clinical trials. To evaluate the effectiveness of this system it was tested by a group of able-bodied individuals used it to perform tasks that measured the speed of input and the accuracy. They performed tasks based on Fitts law, which included the use of mouse and keyboard, and a maze navigation task with both the TDS and a standard joystick. what is a self propelled wheelchair featured a red emergency override button and a companion was with the participants to press it if necessary. The TDS was equally effective as the standard joystick. Another test compared the TDS to what's called the sip-and-puff system. It allows people with tetraplegia control their electric wheelchairs by sucking or blowing air through a straw. The TDS performed tasks three times faster and with greater precision, as compared to the sip-and-puff method. In fact the TDS was able to operate wheelchairs more precisely than even a person suffering from tetraplegia who controls their chair with a specialized joystick. The TDS was able to track tongue position with a precision of less than 1 millimeter. It also incorporated a camera system that captured the eye movements of a person to interpret and detect their motions. It also came with security features in the software that inspected for valid inputs from the user 20 times per second. If a valid signal from a user for UI direction control was not received for a period of 100 milliseconds, the interface modules immediately stopped the wheelchair. The next step for the team is to try the TDS on people with severe disabilities. They have partnered with the Shepherd Center located in Atlanta, a catastrophic care hospital and the Christopher and Dana Reeve Foundation to conduct the trials. They plan to improve the system's sensitivity to lighting conditions in the ambient and to add additional camera systems, and allow repositioning for different seating positions. Joysticks on wheelchairs A power wheelchair that has a joystick lets users control their mobility device without relying on their arms. It can be mounted either in the middle of the drive unit, or on either side. The screen can also be added to provide information to the user. Some screens are large and are backlit to provide better visibility. Some screens are smaller and others may contain symbols or images that assist the user. The joystick can be adjusted to suit different hand sizes grips, as well as the distance between the buttons. As power wheelchair technology evolved and advanced, clinicians were able create driver controls that let clients to maximize their functional capabilities. These innovations allow them to do this in a way that is comfortable for end users. A standard joystick, for instance, is a proportional device that utilizes the amount of deflection in its gimble in order to provide an output which increases with force. This is similar to how video game controllers and automobile accelerator pedals work. This system requires good motor functions, proprioception and finger strength in order to be used effectively. Another type of control is the tongue drive system which uses the location of the tongue to determine where to steer. A tongue stud that is magnetic transmits this information to the headset, which can execute up to six commands. It is suitable for individuals with tetraplegia and quadriplegia. Certain alternative controls are simpler to use than the standard joystick. This is particularly beneficial for users with limited strength or finger movements. Others can even be operated by a single finger, making them ideal for those who are unable to use their hands at all or have minimal movement in them. Some control systems also have multiple profiles that can be customized to meet the needs of each customer. This is important for new users who may require adjustments to their settings periodically when they feel fatigued or are experiencing a flare-up of an illness. This is useful for experienced users who want to change the settings set for a particular area or activity. Wheelchairs with steering wheels Self-propelled wheelchairs are designed to accommodate individuals who need to move around on flat surfaces and up small hills. They have large wheels on the rear for the user's grip to propel themselves. They also have hand rims, which allow the individual to utilize their upper body strength and mobility to steer the wheelchair in either a forward or reverse direction. Self-propelled wheelchairs come with a wide range of accessories, including seatbelts that can be dropped down, dropdown armrests and swing-away leg rests. Some models can be converted into Attendant Controlled Wheelchairs to assist caregivers and family members drive and control the wheelchair for users that require additional assistance. To determine the kinematic parameters, participants' wheelchairs were equipped with three wearable sensors that tracked movement throughout an entire week. The distances tracked by the wheel were measured by using the gyroscopic sensor that was that was mounted on the frame as well as the one mounted on wheels. To distinguish between straight forward movements and turns, periods where the velocities of the left and right wheels differed by less than 0.05 milliseconds were deemed to be straight. Turns were then studied in the remaining segments, and turning angles and radii were derived from the reconstructed wheeled route. This study involved 14 participants. They were tested for accuracy in navigation and command latency. They were asked to maneuver in a wheelchair across four different ways on an ecological experiment field. During the navigation trials, sensors tracked the path of the wheelchair over the entire course. Each trial was repeated at minimum twice. After each trial participants were asked to choose the direction in which the wheelchair should move. The results revealed that the majority of participants were competent in completing the navigation tasks, although they didn't always follow the proper directions. On average 47% of turns were completed correctly. The other 23% were either stopped immediately after the turn, or redirected into a subsequent moving turning, or replaced with another straight motion. These results are similar to those from earlier research.