Development of a Wheelchair Virtual Reality Motion Platform EPSRC GR/M05416

Transcription

1 Development of a Wheelchair Virtual Reality Motion Platform EPSRC GR/M05416 The Bioengineering Unit Department of Architecture and Building Science Disability Scotland Spinal Injuries Scotland

2 Presentation Project Introduction Platform Design Control Systems System Evaluation

3 Project Objectives To provide a reactive motion platform which can allow manual wheelchair users to navigate within realistic virtual representations of the built environment. To combine realistic optical flow simulation of wheelchair motion with a realistic perception of the altered physical effort required to propel a wheelchair over changes in floor surface and slope. To provide architects, designers and wheelchair user groups with a powerful interactive tool which can explore access provision within the built environment.

4 Project Objectives To provide a reactive motion platform which can allow manual wheelchair users to navigate within realistic virtual representations of the built environment. To combine realistic optical flow simulation of wheelchair motion with a realistic perception of the altered physical effort required to propel a wheelchair over changes in floor surface and slope. To provide architects, designers and wheelchair user groups with a powerful interactive tool which can explore access provision within the built environment.

5 Project Objectives To provide a reactive motion platform which can allow manual wheelchair users to navigate within realistic virtual representations of the built environment. To combine realistic optical flow simulation of wheelchair motion with a realistic perception of the altered physical effort required to propel a wheelchair over changes in floor surface and slope. To provide architects, designers and wheelchair user groups with a powerful interactive tool which can explore access provision within the built environment.

6 The Virtual Environment Laboratory EQUAL

7 The Virtual Environment Laboratory EQUAL 150 x 40 degree field of vision

8 The Virtual Environment Laboratory EQUAL

9 The Virtual Environment Laboratory EQUAL Display System User Wheelchair Platform Image Generator Graphics Software Motion Simulator Control System

10 The Virtual Environment Laboratory EQUAL Display System User Wheelchair Platform Image Generator Graphics Software Motion Simulator Control System

11 The Virtual Environment Laboratory EQUAL Display System User Wheelchair Platform Image Generator Graphics Software Motion Simulator Control System

12 Motion Platform Schematic Wheelchair Input Shaft Encoder PC Slope & Virtual World Clutch Smoothing surfaces Brake Gradient Resistance Motor Gradient SGI ONYX II User Position

13 Diagram of the Main Components of the Wheelchair Platform Encoder Inertial Weight Roller Brake Clutch Motor Belt Drive

14 Layout of the Main Components of the Wheelchair Platform

15 Physical Structure of Wheelchair Platform

16 Physical Structure of Wheelchair Platform

17 Wheelchair Platform in Use - Descending EQUAL Video clip available descending see information on Workshop

18 Wheelchair Platform in Use - Ascending EQUAL Video clip available ascending see information on Workshop

19 Wheelchair Platform Evaluation Sample of 15 manual wheelchair users. Age range: years mean 41 years Duration of wheelchair dependence: 9months 54 years mean 18 years Tested wheelchairs manufactured by Quickie (8) RGK (3) Elite (2) Suntec (2) All protocols were approved by a local ethics committee and all volunteers provided informed and written consent.

20 Wheelchair Platform Evaluation Volunteers were asked to explore a VR environment and on completion were asked to rate how realistic various features of the platforms performance compared with real life experiences/expectations. 13 features of the platforms performance criteria were assessed and graded by use of the following scale; 1. Unable to Judge 2. Very Unrealistic 3. Unrealistic 4. Moderately realistic 5. Realistic 6. Very Realistic

21 Wheelchair Platform Evaluation Video clip available evaluation see information on Workshop

22 Wheelchair Platform Evaluation EQUAL

23 Wheelchair Platform Evaluation EQUAL

24 Wheelchair Platform Evaluation Navigation routes showing collision points

25 Project Objectives Stated Objective To provide architects, designers and wheelchair user groups with a powerful interactive tool which can explore access provision within the built environment. Sub Text Training Communication Education