ENGELLİ İNSANLAR İÇİN AKILLI TEKERLEKLİ SANDALYENİN BAŞ HAREKETLERİ İLE KONTROLÜNÜN GERÇEKLEŞTİRİLMESİ

Yıl 2020, Cilt: 2 Sayı: 1, 19 - 32, 30.06.2020

Muhammed Oguz Tas , Didem Ozupek Tas , Hasan Serhan Yavuz

Öz

Felç, MS, ALS gibi fizyolojik sınırlamalara neden olan hastalıklara sahip insanlar, hareket kabiliyetlerini kaybettikleri için, tekerlekli sandalyeye bağlı bir hayat sürmektedirler. Kavrama, tutma gibi becerilerini kaybeden bireyler, tekerlekli sandalyeleri kullanmakta zorlandıkları için, başka insanların yardımlarına ihtiyaç duyabilirler. Bu durum, kişilerin özgürlüklerini ve rahat hareket etmelerini kısıtlamaktadır. Son yıllarda, içinde birçok sensörü barındıran ve engelleri algılama, otonom sürüş gibi özelliklere sahip akıllı robotik tekerlekli sandalyeler üzerinde birçok çalışma gerçekleştirilmektedir. Bu çalışmada, hareket kabiliyetleri kısıtlı bireyler için, benzetim ortamında hazırlanan akıllı tekerlekli sandalye kullanılmış ve sadece baş hareketlerine dayanan bir kontrol mekanizması sunulmuştur. Çalışmada, tekerlekli sandalyenin kontrolü düşük maliyetli bir web kamera kullanılarak gerçekleştirilmiş ve herhangi bir giyilebilir donanım kullanılmasını gerekli kılmamıştır. Gerçekleştirilen çalışmada tekerlekli sandalye otonom ve yarı otonom modlarda kullanılabilmektedir. Kullanıcının baş hareketlerinin web kamera üstünden tespit edilmesinden sonra, tekerlekli sandalyenin hareketi benzetim ortamında gerçekleştirilmektedir. Çalışma sonucunda, baş hareketleri ile tekerlekli sandalyenin benzetim ortamında her iki modda kolaylıkla kontrol edilebildiği gözlenmiştir.

Anahtar Kelimeler

akıllı tekerlekli sandalye;, baş kontrollü robot, robot işletim sistemi

IMPLEMENTATION OF SMART WHEELCHAIR CONTROL BY USING HEAD MOVEMENTS FOR DISABLED PEOPLE

Öz

People with diseases such as stroke MS, ALS that cause physical limitations lead a wheelchair-dependent life as they lose their movement capability. Individuals who lose their skills such as grip and hold may need other people's help as they have difficulty using wheelchairs. This situation restricts the freedom and comfortable movement of disabled people. In recent years, many studies have been carried out on smart wheelchairs with many sensors and features such as obstacle detection and autonomous driving. In this study, we present a control mechanism based on head movements for individuals with limited movement capacity using the smart wheelchair model prepared in a simulation environment. Here, the control of the wheelchair was realized by using a low-cost webcam and did not require the use of any wearable hardware. The designed wheelchair in the study can be used in autonomous and semi-autonomous modes. After the user's head movements are detected on the webcam, the movement of the wheelchair has been observed in the simulation environment. As a result of the study, we verified that the wheelchair can easily be controlled in both modes in simulation environment with head movements. 

Anahtar Kelimeler

Smart wheelchair, head controlled robot, robot operating system

Kaynakça

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