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Types of Self Control Wheelchairs Many people with disabilities utilize self-controlled wheelchairs to get around. These chairs are great for daily mobility and are able to overcome obstacles and hills. The chairs also come with large rear shock-absorbing nylon tires that are flat-free. The velocity of translation of the wheelchair was determined by using a local potential field approach. My Mobility Scooters was fed to a Gaussian decoder that outputs a discrete probability distribution. The evidence accumulated was used to control the visual feedback, and a signal was issued when the threshold was reached. Wheelchairs with hand-rims The type of wheel that a wheelchair uses can affect its ability to maneuver and navigate terrains. Wheels with hand rims help reduce wrist strain and provide more comfort to the user. Wheel rims for wheelchairs can be made from aluminum, plastic, or steel and are available in various sizes. They can be coated with vinyl or rubber for better grip. Some are ergonomically designed with features such as a shape that fits the user's closed grip and wide surfaces that allow full-hand contact. This lets them distribute pressure more evenly and reduce fingertip pressure. A recent study has found that flexible hand rims reduce impact forces and wrist and finger flexor activity when a wheelchair is being used for propulsion. They also have a wider gripping area than tubular rims that are standard. This lets the user apply less pressure while still maintaining the rim's stability and control. These rims are available from a variety of online retailers and DME suppliers. The study found that 90% of respondents were happy with the rims. It is important to note that this was an email survey of those who purchased hand rims from Three Rivers Holdings, and not all wheelchair users with SCI. The survey did not measure any actual changes in pain levels or symptoms. It simply measured whether people perceived the difference. The rims are available in four different designs which include the light, medium, big and prime. The light is a small round rim, while the medium and big are oval-shaped. The prime rims have a slightly bigger diameter and an ergonomically contoured gripping area. All of these rims can be installed on the front of the wheelchair and can be purchased in different colors, ranging from natural- a light tan color -to flashy blue red, green or jet black. They are also quick-release and can be removed to clean or maintain. Additionally the rims are encased 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 people in wheelchairs to control other devices and maneuver it by using their tongues. It is comprised of a small magnetic tongue stud that relays signals for movement to a headset with wireless sensors as well as a mobile phone. The phone converts the signals to commands that control the device, such as a wheelchair. The prototype was tested by able-bodied people and spinal cord injured patients in clinical trials. To test the performance of this system it was tested by a group of able-bodied people used it to complete tasks that tested the speed of input and the accuracy. Fitts’ law was used to complete tasks such as keyboard and mouse usage, and maze navigation using both the TDS joystick as well as the standard joystick. A red emergency override stop button was built into the prototype, and a companion was present to help users press the button when needed. The TDS worked as well as a normal joystick. Another test one test compared the TDS against 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 accuracy, as compared to the sip-and-puff method. The TDS is able to operate wheelchairs more precisely than a person suffering from Tetraplegia, who controls their chair using a joystick. The TDS could monitor tongue position to a precision of under one millimeter. It also came with camera technology that recorded eye movements of a person to interpret and detect their movements. Safety features for software were also included, which verified valid user inputs twenty times per second. If a valid user input for UI direction control was not received after 100 milliseconds, the interface module immediately stopped the wheelchair. The team's next steps include testing the TDS for people with severe disabilities. To conduct these trials, they are partnering with The Shepherd Center, a catastrophic health center in Atlanta and the Christopher and Dana Reeve Foundation. They intend to improve their system's ability to handle ambient lighting conditions, and to include additional camera systems, and to allow the repositioning of seats. Joysticks on wheelchairs With a wheelchair powered with a joystick, users can operate their mobility device with their hands without having to use their arms. It can be positioned in the middle of the drive unit or on either side. It is also available with a screen to display information to the user. Some screens are large and backlit to be more noticeable. Some screens are small, and some may include images or symbols that could assist the user. The joystick can be adjusted to suit different hand sizes and grips as well as the distance of the buttons from the center. As the technology for power wheelchairs advanced, clinicians were able to develop alternative driver controls that allowed clients to maximize their functional capabilities. These advances enable them to do this in a way that is comfortable for users. A normal joystick, for instance, is a proportional device that utilizes the amount deflection of its gimble to provide an output which increases as you exert force. This is similar to how accelerator pedals or video game controllers function. However, this system requires good motor function, proprioception and finger strength to function effectively. Another form of control is the tongue drive system, which utilizes the position of the tongue to determine the direction to steer. A tongue stud with magnetic properties transmits this information to the headset which can perform up to six commands. It is a great option for individuals with tetraplegia and quadriplegia. In comparison to the standard joysticks, some alternative controls require less force and deflection in order to operate, which is especially useful for people with weak fingers or a limited strength. Some of them can be operated with just one finger, making them perfect for people who cannot use their hands at all or have minimal movement. Certain control systems also have multiple profiles that can be customized to meet the needs of each client. This can be important for a new user who might require changing the settings frequently for instance, when they experience fatigue or a disease flare up. This is beneficial for experienced users who wish to change the parameters that are set for a specific area or activity. Wheelchairs with steering wheels Self-propelled wheelchairs are made for individuals who need to maneuver themselves along flat surfaces and up small hills. They have large rear wheels for the user to hold onto while they propel themselves. They also come with hand rims which allow the individual to use their upper body strength and mobility to steer the wheelchair in a either direction of forward or backward. Self-propelled wheelchairs come with a wide range of accessories, including seatbelts, dropdown armrests, and swing-away leg rests. Some models can be converted into Attendant Controlled Wheelchairs that allow caregivers and family to drive and control wheelchairs for people who require more assistance. To determine kinematic parameters participants' wheelchairs were fitted with three sensors that monitored movement throughout an entire week. The gyroscopic sensors on the wheels and fixed to the frame were used to measure wheeled distances and directions. To distinguish between straight-forward movements and turns, the time intervals in which the velocity of the left and right wheels differed by less than 0.05 m/s were considered to be straight. Turns were then investigated in the remaining segments and turning angles and radii were calculated based on the reconstructed wheeled path. A total of 14 participants took part in this study. They were tested for navigation accuracy and command latency. Using an ecological experimental field, they were asked to steer the wheelchair around four different ways. During the navigation trials sensors monitored the movement of the wheelchair along the entire route. Each trial was repeated at least twice. After each trial, the participants were asked to pick which direction the wheelchair to move within. The results showed that a majority of participants were able complete the navigation tasks even although they could not always follow the correct directions. On the average, 47% of the turns were correctly completed. The other 23% were either stopped right after the turn, or redirected into a subsequent turning, or replaced by another straight motion. These results are similar to those of previous research.