Title :
INCH: an intelligent wheelchair prototype
Author :
Rao, S. ; Kuc, R.
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
A prototype of an intelligent wheelchair (INCH) has been equipped with ultrasound range sensors and a Motorola 68HC11, an inexpensive microcontroller. INCH is designed to detect fall-offs and objects in its path, thereby addressing the needs of visually impaired persons who have been confined to wheelchairs. Range information is derived from a set of six Polaroid ultrasound transducers controlled by custom electronics. Two Airpax stepper motors are used to drive the wheels. Input provided by a standard analog joystick indicates the desired speed and direction of motion. The limitations of INCH are discussed, and a multisensor approach to improve the performance is suggested
Keywords :
computerised navigation; handicapped aids; microcomputer applications; ultrasonic applications; Airpax stepper motors; INCH; Motorola 68HC11; Polaroid ultrasound transducers; custom electronics; direction of motion; fall-offs; intelligent wheelchair prototype; microcontroller; multisensor approach; objects; performance; range information; speed; standard analog joystick; ultrasound range sensors; visually impaired persons; wheelchair navigation; Intelligent sensors; Laser feedback; Microcontrollers; Object detection; Prototypes; Sonar detection; Ultrasonic imaging; Ultrasonic transducers; Wheelchairs; Wheels;
Conference_Titel :
Bioengineering Conference, 1989., Proceedings of the 1989 Fifteenth Annual Northeast
Conference_Location :
Boston, MA
DOI :
10.1109/NEBC.1989.36685
