The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs an...The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.展开更多
The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the ...The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the user on the wheelchair wants to operate the computer for his jobs or enjoyment, it is preferable for the user to be able to operate the computer without transferring from the wheelchair to a computer desk. Of course, some computer input devices are available for wheelchairs. One reasonable idea is to use the familiar joystick on the wheelchair as a computer input device. In this paper a joystick controller is proposed, which enables the user on the wheelchair to operate the computer settled on a nearby table. The proposed joystick controller can be achieved by mounting the sensor unit on the joystick without any modification of the conventional wheelchair controller. The principle of the sensing unit is to measure the inclination angle and the direction of the joystick with an acceleration and gyro sensor. Then the sensing unit sends the control data to the computer via an infrared or wireless signal. This proposal is based on a request done by the wheelchair users.展开更多
Most of the spatially moving vehicles and game controllers use a 2-3 DOF （degrees of freedom） joystick to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freed...Most of the spatially moving vehicles and game controllers use a 2-3 DOF （degrees of freedom） joystick to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freedom, such as helicopters, quadrotors, and planes. Therefore, additional equipment like pedals or buttons is required during the manipulation. In this study, a passive Stewart platform based 6 degrees of freedom joystick was developed to control spatially moving objects. The Stewart platform mechanism is a 6-degrees of freedom parallel mechanism, which has been used for simulators. The main challenge of using a parallel mechanism to manipulate objects is the computational burden of its forward kinematics. Therefore, an artificial neural network was used for the forward kinematic solution of the Stewart platform mechanism to obtain the fastest response. Linear potentiometers were used for the Stewart platform legs. A mathematical model of a quadrotor was used to test the capability of the joystick. The developed spatial joystick successfully manipulated the virtual quadrotor model.展开更多
目的探讨双操纵杆技术辅助闭合复位克氏针内固定治疗儿童GartlandⅢ型肱骨髁上骨折(supracondylar fractures of the humerus,SCFH)的疗效。方法回顾分析2022年8月—2024年7月使用双操纵杆技术辅助闭合复位克氏针内固定治疗且获完整随访...目的探讨双操纵杆技术辅助闭合复位克氏针内固定治疗儿童GartlandⅢ型肱骨髁上骨折(supracondylar fractures of the humerus,SCFH)的疗效。方法回顾分析2022年8月—2024年7月使用双操纵杆技术辅助闭合复位克氏针内固定治疗且获完整随访的28例儿童GartlandⅢ型SCFH临床资料。男23例,女5例;年龄1~12岁,平均6.4岁。均为摔伤导致伸直型骨折,X线片示骨折远端向桡侧移位15例、尺侧移位13例。受伤至手术时间3~36 h,平均19.5 h。术后X线片复查评估骨折愈合情况,测量双侧提携角及患侧Baumann角;以肘关节屈、伸活动度及Flynn标准评价肘关节功能;并将上述指标进行健、患侧对比。结果28例均顺利完成手术,手术时间15~40 min,平均25.2 min;住院时间2~5 d,平均3.5 d。患儿均获随访,随访时间3~24个月,平均11.8个月。X线片复查示,骨折均愈合,愈合时间4~6周,平均5.4周。末次随访时,患侧肘关节Baumann角为(73.50±3.46)°;提携角及肘关节屈、伸活动度均小于健侧且差异有统计学意义(P<0.05);基于Flynn标准评价患侧肘关节功能,达优25例、良3例,优良率100%。结论闭合复位克氏针内固定治疗儿童GartlandⅢ型SCFH时,术中采用双操纵杆技术可提高骨折复位成功率和质量,且不增加并发症发生风险。展开更多
文摘The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.
文摘The electric wheelchair is an effective machine for people with lower limb disability. The user controls the wheelchair by a joystick that helps the user to navigate the wheelchair along the desired path. Suppose the user on the wheelchair wants to operate the computer for his jobs or enjoyment, it is preferable for the user to be able to operate the computer without transferring from the wheelchair to a computer desk. Of course, some computer input devices are available for wheelchairs. One reasonable idea is to use the familiar joystick on the wheelchair as a computer input device. In this paper a joystick controller is proposed, which enables the user on the wheelchair to operate the computer settled on a nearby table. The proposed joystick controller can be achieved by mounting the sensor unit on the joystick without any modification of the conventional wheelchair controller. The principle of the sensing unit is to measure the inclination angle and the direction of the joystick with an acceleration and gyro sensor. Then the sensing unit sends the control data to the computer via an infrared or wireless signal. This proposal is based on a request done by the wheelchair users.
文摘Most of the spatially moving vehicles and game controllers use a 2-3 DOF （degrees of freedom） joystick to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freedom, such as helicopters, quadrotors, and planes. Therefore, additional equipment like pedals or buttons is required during the manipulation. In this study, a passive Stewart platform based 6 degrees of freedom joystick was developed to control spatially moving objects. The Stewart platform mechanism is a 6-degrees of freedom parallel mechanism, which has been used for simulators. The main challenge of using a parallel mechanism to manipulate objects is the computational burden of its forward kinematics. Therefore, an artificial neural network was used for the forward kinematic solution of the Stewart platform mechanism to obtain the fastest response. Linear potentiometers were used for the Stewart platform legs. A mathematical model of a quadrotor was used to test the capability of the joystick. The developed spatial joystick successfully manipulated the virtual quadrotor model.
