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Types of Self Control Wheelchairs Many people with disabilities use self-controlled wheelchairs for getting around. These chairs are great for daily mobility and can easily overcome obstacles and hills. The chairs also come with large rear shock-absorbing nylon tires which are flat-free. The speed of translation of the wheelchair was measured by a local field approach. Each feature vector was fed into a Gaussian decoder, which produced a discrete probability distribution. The accumulated evidence was then used to generate visual feedback, and a command delivered when the threshold had been exceeded. Wheelchairs with hand-rims The kind of wheel a wheelchair is using can affect its ability to maneuver and navigate different terrains. Wheels with hand-rims can help reduce strain on the wrist and improve comfort for the user. A wheelchair's wheel rims can be made from aluminum, plastic, or steel and are available in a variety of sizes. They can be coated with vinyl or rubber to provide better grip. Some are equipped with ergonomic features for example, being shaped to fit the user's natural closed grip, and also having large surfaces that allow for full-hand contact. This lets them distribute pressure more evenly and prevents the pressure of the fingers from being too much. A recent study has found that rims for the hands that are flexible reduce impact forces and wrist and finger flexor activity during wheelchair propulsion. These rims also have a greater gripping area than standard tubular rims. This allows the user to apply less pressure while still maintaining the rim's stability and control. These rims are available at a wide range of online retailers as well as DME providers. The results of the study showed that 90% of the respondents who had used the rims were satisfied with the rims. However it is important to note that this was a postal survey of people who purchased the hand rims from Three Rivers Holdings and did not necessarily represent all wheelchair users suffering from SCI. The survey also did not examine the actual changes in symptoms or pain however, it was only a measure of whether individuals perceived a change. These rims can be ordered in four different models including the light big, medium and the prime. The light is a small-diameter round rim, while the medium and big are oval-shaped. The rims that are prime have a slightly bigger diameter and a more ergonomically designed gripping area. All of these rims can be mounted on the front wheel of the wheelchair in a variety of colors. They are available in natural light tan and flashy greens, blues pinks, reds and jet black. They are quick-release and are easily removed for cleaning or maintenance. Additionally the rims are encased with a vinyl or rubber coating that helps protect hands from slipping on the rims, causing discomfort. Wheelchairs that have a tongue drive Researchers at Georgia Tech developed a system that allows people who use wheelchairs to control other digital devices and maneuver it by moving their tongues. It is made up of a tiny tongue stud and a magnetic strip that transmits signals from the headset to the mobile phone. The smartphone then converts the signals into commands that can be used to control the wheelchair or other device. The prototype was tested with able-bodied people and in clinical trials with patients who suffer from spinal cord injuries. To assess the performance of this system it was tested by a group of able-bodied people used it to complete tasks that assessed accuracy and speed of input. They performed tasks based on Fitts' law, including keyboard and mouse use, and a maze navigation task with both the TDS and a normal joystick. A red emergency stop button was built into the prototype, and a second accompanied participants to hit the button in case of need. The TDS performed as well as a standard joystick. In a separate test in another test, the TDS was compared to the sip and puff system. This lets those with tetraplegia to control their electric wheelchairs through blowing or sucking into a straw. The TDS was able to complete tasks three times faster, and with greater accuracy as compared to the sip-and-puff method. In fact, the TDS was able to operate a wheelchair more precisely than even a person with tetraplegia who controls their chair with a specialized joystick. The TDS could track tongue position with the precision of less than a millimeter. It also had camera technology that recorded eye movements of an individual to identify and interpret their movements. Safety features for software were also integrated, which checked the validity of inputs from users twenty times per second. If a valid user input 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 try the TDS on individuals with severe disabilities. To conduct these trials they have partnered with The Shepherd Center which is a critical care hospital in Atlanta, and the Christopher and Dana Reeve Foundation. They are planning to enhance their system's tolerance for ambient lighting conditions, to add additional camera systems and to enable the repositioning of seats. Joysticks on wheelchairs With a power wheelchair that comes with a joystick, clients can operate their mobility device with their hands, without having to use their arms. It can be placed in the middle of the drive unit or either side. It is also available with a display to show information to the user. Some screens have a big screen and are backlit for better visibility. Some screens are smaller and have pictures or symbols to help the user. The joystick can be adjusted to accommodate different sizes of hands and grips as well as the distance of the buttons from the center. As power wheelchair technology evolved, clinicians were able to create driver controls that allowed patients to maximize their functional capabilities. These advancements allow them to accomplish this in a manner that is comfortable for end users. For example, a standard joystick is a proportional input device which uses the amount of deflection on its gimble in order to produce an output that grows with force. This is similar to how video game controllers or accelerator pedals for cars function. This system requires strong motor functions, proprioception and finger strength to function effectively. A tongue drive system is a second type of control that uses the position of the user's mouth to determine the direction to steer. A tongue stud that is magnetic transmits this information to the headset which can execute up to six commands. It is a great option for people with tetraplegia and quadriplegia. Compared to the standard joysticks, some alternatives require less force and deflection to operate, which is helpful for users who have limited strength or finger movement. Certain controls can be operated by only one finger which is perfect for those with a limited or no movement in their hands. Some control systems also have multiple profiles, which can be customized to meet the needs of each customer. This is essential for new users who may need to adjust the settings periodically when they feel fatigued or experience a flare-up in a condition. This is beneficial for experienced users who want to alter the parameters set up for a specific area or activity. Wheelchairs with steering wheels Self-propelled wheelchairs can be used by those who have to move on flat surfaces or up small hills. They come with large rear wheels for the user to grip as they move themselves. Hand rims enable the user to use their upper-body strength and mobility to guide the wheelchair forward or backward. Self-propelled wheelchairs are available with a variety of accessories, including seatbelts, dropdown armrests and swing away leg rests. Some models can also be transformed into Attendant Controlled Wheelchairs that can help caregivers and family members control and drive the wheelchair for those who need more assistance. To determine kinematic parameters the wheelchairs of participants were fitted with three sensors that tracked their movement throughout the entire week. self-propelled wheelchairs tracked by the wheel were measured with the gyroscopic sensors attached to the frame and the one that was mounted on the wheels. To distinguish between straight forward movements and turns, periods where the velocities of the left and right wheels differed by less than 0.05 milliseconds were thought to be straight. The remaining segments were analyzed for turns and the reconstructed wheeled paths were used to calculate turning angles and radius. A total of 14 participants participated in this study. They were tested for accuracy in navigation and command latency. They were asked to navigate the wheelchair through four different wayspoints in an ecological field. During the navigation trials sensors monitored the movement of the wheelchair along the entire course. Each trial was repeated at least twice. After each trial participants were asked to select the direction in which the wheelchair could move. The results showed that most participants were able to complete the tasks of navigation even when they didn't always follow the correct directions. On average, they completed 47% of their turns correctly. The other 23% of their turns were either stopped immediately after the turn, wheeled on a subsequent turn, or superseded by a simpler movement. These results are comparable to those of previous studies.