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Types of Self Control Wheelchairs Self-control wheelchairs are used by many disabled people to get around. These chairs are ideal for everyday mobility and can easily climb up hills and other obstacles. They also have large rear shock-absorbing nylon tires that are flat-free. The speed of translation of the wheelchair was measured by a local field method. Each feature vector was fed to a Gaussian encoder which output a discrete probabilistic spread. The evidence accumulated was used to trigger visual feedback, as well as an alert was sent when the threshold was reached. Wheelchairs with hand-rims The type of wheels a wheelchair has can impact its maneuverability and ability to traverse different terrains. Wheels with hand-rims can reduce strain on the wrist and improve comfort for the user. Wheel rims for wheelchairs can be found in aluminum, steel plastic, or other materials. They are also available in a variety of sizes. They can be coated with vinyl or rubber for better grip. Some are ergonomically designed with features like a shape that fits the grip of the user and wide surfaces to allow for full-hand contact. This lets them distribute pressure more evenly and avoid the pressure of the fingers from being too much. A recent study revealed that flexible hand rims reduce the impact force 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 ensuring good push rim stability and control. These rims are available from a variety of online retailers and DME suppliers. The results of the study showed that 90% of those who had used the rims were pleased with the rims. It is important to remember that this was an email survey of those who purchased hand rims at Three Rivers Holdings, and not all wheelchair users with SCI. The survey did not measure actual changes in symptoms or pain, but only whether the individuals felt a change. The rims are available in four different designs including the light medium, big and prime. The light is a smaller-diameter round rim, whereas the big and medium are oval-shaped. The rims that are prime are slightly larger in size and have an ergonomically contoured gripping surface. All of these rims are mounted on the front of the wheelchair and can be purchased in various colors, ranging from natural- a light tan color — to flashy blue, red, green, or jet black. They are quick-release and are able to be removed easily to clean or maintain. Additionally the rims are encased with a protective rubber or vinyl coating that helps protect hands from slipping onto the rims, causing discomfort. Wheelchairs with tongue drive Researchers at Georgia Tech developed a system that allows people who use wheelchairs to control other digital devices and move it by using their tongues. It is comprised of a tiny tongue stud and a magnetic strip that transmits movements signals from the headset to the mobile phone. The smartphone then converts the signals into commands that control a wheelchair or other device. The prototype was tested with able-bodied people and spinal cord injured patients in clinical trials. To test the performance, a group physically fit people completed tasks that tested speed and accuracy of input. Fittslaw was employed to complete tasks, such as keyboard and mouse use, and maze navigation using both the TDS joystick and the standard joystick. The prototype was equipped with an emergency override button in red and a person was present to assist the participants in pressing it when required. The TDS performed as well as a standard joystick. In another test in another test, the TDS was compared with the sip and puff system. This allows people with tetraplegia to control their electric wheelchairs by blowing or sucking into a straw. The TDS was able to complete tasks three times faster and with greater precision, than the sip-and puff system. The TDS can drive wheelchairs more precisely than a person suffering from Tetraplegia who controls their chair using the joystick. The TDS could track tongue position with a precision of less than one millimeter. It also incorporated cameras that recorded the eye movements of a person to identify and interpret their motions. It also had software safety features that checked for valid inputs from users 20 times per second. If self propelled wheelchair with removable arms from a user for UI direction control was not received for a period of 100 milliseconds, the interface modules automatically stopped the wheelchair. The next step for the team is to test the TDS on people with severe disabilities. They have partnered with the Shepherd Center, an Atlanta-based hospital that provides catastrophic care and the Christopher and Dana Reeve Foundation to conduct these trials. They plan to improve the system's tolerance to lighting conditions in the ambient, add additional camera systems, and enable repositioning for alternate seating positions. Wheelchairs with a joystick With a power wheelchair that comes 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. The screen can also be used to provide information to the user. Some of these screens are large and are backlit for better visibility. Others are small and may include symbols or images to help the user. The joystick can be adjusted to accommodate 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 let clients to maximize their functional capabilities. These innovations also enable them to do this in a way that is comfortable for the user. A typical joystick, as an instance is a proportional device that uses the amount of deflection in its gimble to provide an output which increases with force. This is similar to how automobile accelerator pedals or video game controllers work. However this system requires motor function, proprioception, and finger strength to function effectively. Another type of control is the tongue drive system which relies on the location of the tongue to determine the direction to steer. A magnetic tongue stud sends this information to the headset which can perform up to six commands. It is suitable for individuals with tetraplegia and quadriplegia. In comparison to the standard joystick, certain alternatives require less force and deflection in order to operate, which is especially beneficial for those with weak fingers or a limited strength. Others can even be operated with just one finger, making them perfect for those who are unable to use their hands at all or have limited movement. Some control systems have multiple profiles that can be modified to meet the requirements of each client. This is crucial for those who are new to the system and may need to adjust the settings regularly when they feel fatigued or are experiencing a flare-up of an illness. This is beneficial for those who are experienced and want to alter the parameters set for a particular environment or activity. Wheelchairs that have a steering wheel Self-propelled wheelchairs can be used by those who have to get around on flat surfaces or climb small hills. They feature large wheels on the rear that allow the user's grip to propel themselves. Hand rims allow users to make use of their upper body strength and mobility to guide the wheelchair forward or backwards. Self-propelled wheelchairs come with a wide range of accessories, such as seatbelts, dropdown armrests and swing away leg rests. Some models can be converted into Attendant Controlled Wheelchairs, which permit caregivers and family to drive and control wheelchairs for those who require assistance. Three wearable sensors were attached to the wheelchairs of participants to determine the kinematic parameters. The sensors monitored movement for the duration of a week. The gyroscopic sensors mounted on the wheels as well as one fixed to the frame were used to determine the distances and directions of the wheels. To distinguish between straight-forward motions and turns, periods where the velocities of the right and left wheels differed by less than 0.05 milliseconds were deemed to be straight. The remaining segments were examined for turns, and the reconstructed wheeled paths were used to calculate the turning angles and radius. A total of 14 participants took part in this study. They were evaluated for their navigation accuracy and command latency. Through an ecological experiment field, they were tasked to navigate the wheelchair using four different waypoints. During navigation tests, sensors followed the wheelchair's movement throughout the entire route. Each trial was repeated at least twice. After each trial, the participants were asked to pick a direction for the wheelchair to move within. The results showed that the majority of participants were capable of completing the navigation tasks, even though they did not always follow the correct directions. They completed 47% of their turns correctly. The other 23% were either stopped right after the turn, or wheeled into a subsequent turning, or replaced with another straight motion. These results are similar to those of earlier research.