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Development of a Control System for a Power Wheelchair Trainer Stewart James Hildebrand Grand Valley State University

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Development of a Control System for a Power Wheelchair Trainer Stewart James Hildebrand Grand Valley State University Grand Valley State University ScholarWorks@GVSU Masters Theses Graduate Research and Creative Practice 5-2014 Development of a Control System for a Power Wheelchair Trainer Stewart James Hildebrand Grand Valley State University Follow this and additional works at: http://scholarworks.gvsu.edu/theses Part of the Engineering Commons Recommended Citation Hildebrand, Stewart James, "Development of a Control System for a Power Wheelchair Trainer" (2014). Masters Theses. 717. http://scholarworks.gvsu.edu/theses/717 This Thesis is brought to you for free and open access by the Graduate Research and Creative Practice at ScholarWorks@GVSU. It has been accepted for inclusion in Masters Theses by an authorized administrator of ScholarWorks@GVSU. For more information, please contact [email protected]. Development of a Control System for a Power Wheelchair Trainer Stewart James Hildebrand A Thesis Submitted to the Graduate Faculty of GRAND VALLEY STATE UNIVERSITY In Partial Fulfillment of the Requirements For the Degree of Master of Science in Engineering Biomedical Engineering emphasis Padnos College of Engineering and Computing May 2014 Abstract The development of a Power Wheelchair Trainer for use by individuals with severe motor, cognitive, and communication deficits is described. These individuals, who are limited in their ability to use self-initiated mobility, are typically not considered to be candidates for power wheelchair use. The Power Wheelchair Trainer provides a motorized platform that allows a manual wheelchair to be temporarily converted into a power wheelchair, thereby permitting these individuals to practice using powered mobility while optimally positioned in their own customized seating systems. To accommodate the needs of these individuals, the Power Wheelchair Trainer incorporates additional control features not available in commercial systems. These additional features include: 1) a platform that may be raised or lowered for loading and unloading of the manual wheelchair without lifting; 2) a wireless joystick and multiple types of switch inputs for versatile drive control; 3) a safety remote with an override joystick and emergency stop switch; and 4) a user interface permitting the therapist to configure programmable settings. Programmable settings included: 1) joystick center dead-zone; 2) joystick outer dead-zone with time-out; 3) joystick sensitivity, also known as tremor dampening; 4) joystick throw; 5) speed; 6) acceleration; 7) deceleration; and 8) invert mode. A prototype of the Power Wheelchair Trainer was developed for use with children and young adults at the Lincoln Development Center, an area public school in Grand Rapids, Michigan that provides special education services. Power mobility experts have expressed positive feedback about the Power Wheelchair Trainer and would like to see more rehabilitation centers and schools offer this unique training opportunity. 3 Table of Contents Abstract ......................................................................................................................................................... 3 I. Introduction ............................................................................................................................................. 10 II. Literature Review .................................................................................................................................... 12 II.1 Independent Mobility during Childhood Development .................................................................... 12 II.2 Current Research in Power Mobility Training ................................................................................... 13 II.3 Drive Control ..................................................................................................................................... 14 II.4 Prior Work – The Turtle Trainer ........................................................................................................ 18 II.5 Previous Versions of the Power Wheelchair Trainer ........................................................................ 20 II.6 Programmable Features Available in Commercial Power Wheelchair Control Systems .................. 25 II.6.1 Invacare MK6 Programmable Features ..................................................................................... 25 II.6.2 PGDT R-Net Omni+ Programmable Features ............................................................................. 26 II.7 PI Control ........................................................................................................................................... 27 III. Approach and Methods ......................................................................................................................... 30 III.1 Requirements Gathering .................................................................................................................. 30 III.2 Electrical Design ............................................................................................................................... 31 III.3 Software Design ............................................................................................................................... 31 IV. Design Input and Requirements ............................................................................................................ 33 IV.1 List of Requirements ........................................................................................................................ 33 IV.2 Required Features Not Available in Commercially Available Control Systems ............................... 34 IV.2.1 Outer Dead Zone ...................................................................................................................... 34 4 IV.2.2 Wireless Joystick ....................................................................................................................... 35 IV.2.3 Remote Emergency Stop and Override .................................................................................... 35 IV.2.4 Linear Actuator Control ............................................................................................................ 36 IV.2.5 Named Profiles ......................................................................................................................... 36 IV.3 Input Requirements ......................................................................................................................... 37 IV.3.1 Emergency Stop ........................................................................................................................ 37 IV.4 Programming ................................................................................................................................... 38 IV.5 Improvements over Previous Versions ............................................................................................ 42 IV.5.1 Transportability ........................................................................................................................ 42 IV.5.2 Joystick Improvements ............................................................................................................. 43 IV.5.3 Tray ........................................................................................................................................... 44 IV.5.4 Veer Correction ........................................................................................................................ 44 IV.6 Quick Start Guide ............................................................................................................................. 45 IV.7 Operator Manual ............................................................................................................................. 45 V. Theory of Operation ............................................................................................................................... 46 V.1 Specifications Table .......................................................................................................................... 46 V.2 Functional Diagram ........................................................................................................................... 53 V.3 Main Receiver Circuit Board ............................................................................................................. 55 V.3.1 Motor Controller ........................................................................................................................ 56 V.3.2 Platform Actuators .................................................................................................................... 58 5 V.3.3 Control Panel ............................................................................................................................. 59 V.3.4 Emergency Stop Switches .......................................................................................................... 62 V.3.5 Receiving Wireless Module ....................................................................................................... 63 V.4 Remote Circuit Boards ...................................................................................................................... 63 V.4.1 Power Switch ............................................................................................................................. 64 V.4.2 LED ............................................................................................................................................
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