200 | 0 | 45 |
下载次数 | 被引频次 | 阅读次数 |
智能轮椅作为一种辅助移动设备,适用于步行功能障碍、长期卧床的患者,旨在提高老年人及残疾人的生活自理能力,重建他们的生活自信。近年来智能轮椅技术不断发展,交互方式呈现多样化,辅助功能进一步丰富。随着智能轮椅在残障人群中应用的逐渐增多,需要对我国智能轮椅的设计和应用进行规范和建议。本共识结合智能轮椅技术发展现状,并参考轮椅适用人群的特点,通过专家咨询以及组织专家组讨论,对智能轮椅的控制方式、辅助功能、智能轮椅适用人群功能障碍分类和临床应用匹配等方面进行总结和制定,以期为智能轮椅设计研发和应用提供指导意见。
Abstract:[1] 安娜.《2022年度国家老龄事业发展公报》发布[J].社会与公益,2023,12:7.
[2] 赵燕潮.中国残联发布我国最新残疾人口数据[J].残疾人研究,2012,A1:11.
[3] Simpson RC.Smart wheelchairs:a literature review[J].J Rehabil Res,2005,42(4):423-436.
[4] Zhang X,Hui L,Wei L,et al.A bibliometric analysis of human-machine interaction methodology for electric-powered wheelchairs driving from 1998 to 2020[J].Int J Environ Res Public Health,2021,18(14):7567.
[5] 杨艺,张冰洁,李雪,等.基于物联网技术的多模态智能轮椅[J].物联网技术,2023,13(7):60-63,68.
[6] Edwards K,McCluskey A.A survey of adult power wheelchair and scooter users[J].Disabil Rehabil Assist Technol,2010,5(6):411-419.
[7] Frank A,Neophytou C,Frank J,et al.Electric-powered indoor/outdoor wheelchairs(EPIOCs):users' views of influence on family,friends and carers[J].Disabil Rehabil Assist Technol,2010,5(5):327-338.
[8] Greer N,Brasure M,Wilt TJ.Wheeled mobility(wheelchair)service delivery:scope of the evidence[J].Ann Intern Med,2012,156(2):141-146.
[9] Wang RH,Korotchenko A,Clarke LH,et al.Power mobility with collision avoidance for older adults:user,caregiver and prescriber perspectives[J].J Rehabil Res Dev,2013,50(9):1287.
[10] Choi JH,Chung Y,Oh S.Motion control of joystick interfaced electric wheelchair for improvement of safety and riding comfort[J].Mechatronics,2019,59:104-114.
[11] Dicianno BE,Cooper RA,Coltellaro J.Joystick control for powered mobility:current state of technology and future directions[J].Physl Med Rehabil Clin N Am,2010,21(1):79-86.
[12] Zhai S.Human performance in six degree of freedom input control[M].Toronto:University of Toronto,1996.
[13] Koyama S,Tatemoto T,Kumazawa N,et al.The effect of differences in powered wheelchair joystick shape on subjective and objective operability[J].Appl Ergon,2023,107:103920.
[14] Athuluri RM,Bathulla S,Azeem A,et al.Gesture and joystick controlled multipurpose automated wheelchair[J].Indian J Sci Technol,2017,10(33):86.
[15] Lu T.A motion control method of intelligent wheelchair based on hand gesture recognition[C]//2013 IEEE 8th Conference on industrial electronics and applications(ICIEA).Melbourne:IEEE,2013:957-962.
[16] Ju JS,Shin Y,Kim EY.Vision based interface system for hands free control of an intelligent wheelchair[J].J Neuroeng Rehabil,2009,6(1):1-17.
[17] Zhang Y,Zhang J,Luo Y.A novel intelligent wheelchair control system based on hand gesture recognition[C]//The 2011 IEEE/ICME International Conference on Complex Medical Engineering.Harbin:IEEE,2011:334-339.
[18] Megalingam RK,Sreekanth S,Govardhan A,et al.Wireless gesture controlled wheelchair[C]//2017 4th International Conference on Advanced Computing and Communication Systems(ICACCS).Coimbatore:IEEE,2017:1-5.
[19] Makwana SD,Tandon AG.Touch screen based wireless multifunctional wheelchair using ARM and PIC microcontroller[C]/2016 International Conference on Microelectronics,Computing and Communications(MicroCom).Durgapur:IEEE,2016:1-4.
[20] Shamseldin MA,Khaled E,Youssef A,et al.A new design identification and control based on GA optimization for an autonomous wheelchair[J].Robotics,2022,11(5):101.
[21] Callejas-Cuervo M,González-Cely AX,Bastos-Filho T.Control systems and electronic instrumentation applied to autonomy in wheelchair mobility:The state of the art[J].Sensors,2020,20(21):6326.
[22] Qadri MT,Ahmed SA.Voice controlled wheelchair using dsk tms320c6711[C]//2009 International Conference on Signal Acquisition and Processing.Kuala Lumpur:IEEE,2009:217-220.
[23] Ruzaij MF,Neubert S,Stoll N,et al.Multi-sensor robotic-wheelchair controller for handicap and quadriplegia patients using embedded technologies[C]//2016 9th International Conference on Human System Interactions(HSI).Portsmouth:IEEE,2016:103-109.
[24] Ruzaij MF,Poonguzhali S.Design and implementation of low cost intelligent wheelchair[C]//2012 International Conference on Recent Trends in Information Technology.Chennai:IEEE,2012:468-471.
[25] Simpson RC,Levine SP.Voice control of a powered wheelchair[J].IEEE Trans Neural Syst Rehabil Eng,2002,10(2):122-125.
[26] Pires G,Nunes U.A wheelchair steered through voice commands and assisted by a reactive fuzzy-logic controller[J].J Intell Robot Syst,2002,34:301-314.
[27] Nasif S,Khan MAG.Wireless head gesture controlled wheel chair for disable persons[C]//2017 IEEE Region 10 Humanitarian Technology Conference(R10-HTC).Dhaka:IEEE,2017:156-161.
[28] Nguyen ST,Nguyen HT,Taylor PB,et al.Improved head direction command classification using an optimised Bayesian neural network[C]//2006 International Conference of the IEEE Engineering in Medicine and Biology Society.New York:IEEE,2006:5679-5682.
[29] González-Cely AX,Callejas-Cuervo M,Bastos-Filho T.Wheelchair prototype controlled by position,speed and orientation using head movement[J].Hardware X,2022,11:e00306.
[30] Gomes D,Fernandes F,Castro E,et al.Head-movement interface for wheelchair driving based on inertial sensors[C]//2019 IEEE 6th Portuguese Meeting on Bioengineering(ENBENG).Lisbon:IEEE,2019:1-4.
[31] Yoda I,Tanaka J,Raytchev B,et al.Stereo camera based non-contact non-constraining head gesture interface for electric wheelchairs[C]//18th International Conference on Pattern Recognition(ICPR'06).Hong Kong:IEEE,2006,4:740-745.
[32] Bankar R,Salankar S.Improvement of head gesture recognition using camshift based face tracking with UKF[C]//2019 9th International Conference on Emerging Trends in Engineering and Technology-Signal and Information Processing(ICETET-SIP-19).Nagpur:IEEE,2019:1-5.
[33] Ishizuka A,Yorozu A,Takahashi M.Motion control of a powered wheelchair using eye gaze in unknown environments[C]//2017 11th Asian Control Conference(ASCC).Gold Coast:IEEE,2017:90-95.
[34] Cojocaru D,Manta LF,Pan■ CF,et al.The design of an intelligent robotic wheelchair supporting people with special needs,including for their visual system[J].Healthcare,2021,10(1):13.
[35] Liu SS,Rawicz A,Ma T,et al.An eye-gaze tracking and human computer interface system for people with ALS and other locked-in diseases[J].CMBES Proceedings,2010,33(1):1-3.
[36] Arai K,Mardiyanto R.A prototype of electric wheelchair controlled by eye-only for paralyzed user[J].J Robot Mechatron,2011,23(1):66.
[37] Barea R,Boquete L,Mazo M,et al.System for assisted mobility using eye movements based on electrooculography[J].IEEE Trans Neural Syst Rehabil Eng,2002,10(4):209-218.
[38] Banerjee A,Datta S,Das P,et al.Electrooculogram based online control signal generation for wheelchair[C]//2012 International Symposium on Electronic System Design(ISED).Kolkata:IEEE,2012:251-255.
[39] Cojocaru D,Manta LF,Pan■ CF,et al.The design of an intelligent robotic wheelchair supporting people with special needs,including for their visual system[J].Healthcare,2021,10(1):13.
[40] Kim KT,Carlson T,Lee SW.Design of a robotic wheelchair with a motor imagery based brain-computer interface[C]//2013 International Winter Workshop on Brain-Computer Interface(BCI).Gangwon:IEEE,2013:46-48.
[41] Jang WA,Lee SM,Lee DH.Development BCI for individuals with severely disability using EMOTIV EEG headset and robot[C]//2014 International Winter Workshop on Brain-Computer Interface(BCI).Gangwon:IEEE,2014:1-3.
[42] Paul D,Mukherjee M.Automation of wheelchair using brain computer interface(BCI)technique[C]//AIP Conference Proceedings,AIP Publishing,2019,2072(1).
[43] Tonin L,Perdikis S,Kuzu TD,et al.Learning to control a BMI-driven wheelchair for people with severe tetraplegia[J].iScience,2022,25(12):105418.
[44] Widyotriatmo A,Andronicus S.A collaborative control of brain computer interface and robotic wheelchair[C]//2015 10th Asian Control Conference(ASCC).Kota Kinabalu:IEEE,2015:1-6.
[45] Long J,Li Y,Wang H,et al.A hybrid brain computer interface to control the direction and speed of a simulated or real wheelchair[J].IEEE Trans Neural Syst Rehabil Eng,2012,20(5):720-729.
[46] Simpson RC,Levine SP,Bell DA,et al.NavChair:an assistive wheelchair navigation system with automatic adaptation[J].IEEE Trans Rehabil Eng,1999,7(4):452-463.
[47] Chow HN,Xu Y,Tso SK.Learning human navigational skill for smart wheelchair[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Lausanne:IEEE,2002,1:996-1001.
[48] Simpson RC,Poirot D,Baxter F.The hephaestus smart wheelchair system[J].IEEE Trans Neural Syst Rehabil Eng,2002,10(2):118-122.
[49] Urdiales C,Fernández-Carmona M,Peula JM,et al.Efficiency based modulation for wheelchair driving collaborative control[J].IEEE Int Conf Robot Autom,2010:199-204.
[50] Urdiales C,Fernandez-Espejo B,Annicchiaricco R,et al.Biometrically modulated collaborative control for an assistive wheelchair[J].IEEE Trans Neural Syst Rehabil Eng,2010,18(4):398-408.
[51] Parikh SP,Grassi V,Kumar V,et al.Integrating human inputs with autonomous behaviors on an intelligent wheelchair platform[J].IEEE Intell Syst,2007,22(2):33-41.
[52] Cheein FA,de La Cruz C,Carelli R,et al.Solution to a door crossing problem for an autonomous wheelchair[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.St.Louis:IEEE,2009:4931-4936.
[53] Montesano L,Díaz M,Bhaskar S,et al.Towards an intelligent wheelchair system for users with cerebral palsy[J].IEEE Trans Neural Syst Rehabil Eng,2010,18(2):193-202.
[54] Prassler E,Scholz J,Strobel M,et al.An intelligent(semi-)autonomous passenger transportation system[C]//Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems(Cat.No.99TH8383).Tokyo:IEEE,1999:374-379.
[55] Prassler E,Scholz J,Fiorini P.A robotics wheelchair for crowded public environment[J].IEEE Robot Autom Mag,2001,8(1):38-45.
[56] Gao C,Miller T,Spletzer JR,et al.Autonomous docking of a smart wheelchair for the automated transport and retrieval system(ATRS)[J].J Field Robot,2008,25(4‐5):203-222.
[57] Sermeno-Villalta H,Spletzer J.Vision-based control of a smart wheelchair for the automated transport and retrieval system(ATRS)[C]//Proceedings 2006 IEEE International Conference on Robotics and Automation,2006.ICRA 2006.Orlando:IEEE,2006:3423-3428.
[58] Leishman F,Horn O,Bourhis G.Multimodal laser-vision approach for the deictic control of a smart wheelchair[C]//Ambient Assistive Health and Wellness Management in the Heart of the City:7th International Conference on Smart Homes and Health Telematics,ICOST 2009,Tours,France,July 1-3,2009.Proceedings 7,Springer Berlin Heidelberg,2009:98-107.
[59] Mandel C,Lüth T,Laue T,et al.Navigating a smart wheelchair with a brain-computer interface interpreting steady-state visual evoked potentials[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.St.Louis:IEEE,2009:1118-1125.
[60] Touati Y,Ali-Cherif A,Achili B.Smart wheelchair design and monitoring via wired and wireless networks[C]//2009 IEEE Symposium on Industrial Electronics & Applications.Xi'an:IEEE,2009,2:920-925.
[61] Tao Y,Wang T,Wei H,et al.A behavior control method based on hierarchical POMDP for intelligent wheelchair[C]//2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Singapore:IEEE,2009:893-898.
[62] Mongan JJ,Ferris TG,Lee TH.Options for slowing the growth of health care costs[J].New Engl J Med,2008,358(14):1509.
[63] Kim JS,Chee YJ,Park JW,et al.A new approach for non-intrusive monitoring of blood pressure on a toilet seat[J].Physiol Meas,2006,27(2):203.
[64] Postolache O,Gir?o PS,Postolache G,et al.Cardio-respiratory and daily activity monitor based on FMCW Doppler radar embedded in a wheelchair[C]//2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.Boston:IEEE,2011:1917-1920.
[65] Postolache O,Girao P S,Mendes J,et al.Unobstrusive heart rate and respiratory rate monitor embedded on a wheelchair[C]//2009 IEEE International Workshop on Medical Measurements and Applications.Cetraro:IEEE,2009:83-88.
[66] Postolache O,Freire J,Gir?o PS,et al.Smart sensor architecture for vital signs and motor activity monitoring of wheelchair'users[C]//2012 Sixth International Conference on Sensing Technology(ICST).Kolkata:IEEE,2012:167-172.
[67] Demarré L,Van Lancker A,Van Hecke A,et al.The cost of prevention and treatment of pressure ulcers:a systematic review[J].Int J Nurs Studies,2015,52(11):1754-1774.
[68] Li Z,Lin F,Thalib L,et al.Global prevalence and incidence of pressure injuries in hospitalised adult patients:a systematic review and meta-analysis[J].Int J Nurs Stud,2020,105:103546.
[69] Thomas DR.Prevention and treatment of pressure ulcers[J].J Am Med Direct Assoc,2006,7(1):46-59.
[70] Chai CY,Sadou O,Worsley PR,et al.Pressure signatures can influence tissue response for individuals supported on an alternating pressure mattress[J].J Tissue Viabil,2017,26(3):180-188.
[71] Wu FL,Zheng Z,Ma Y,et al.Effects of cycle periods and pressure amplitudes of alternating pressure on sacral skin blood flow responses[J].J Tissue Viabil,2020,29(4):264-268.
[72] Fadil R,Hoffmann B,Lovelace S,et al.Design and evaluation of a dynamic air cushion for pressure ulcers prevention[J].J Tissue Viabil,2022,31(3):491-500.
[73] Yu CH,Chou TY,Chen CH,et al.Development of a modularized seating system to actively manage interface pressure[J].Sensors,2014,14(8):14235-14252.
[74] Md Nadzri N,Hamzaid NA,Chung TY.Design and development of a wheelchair seating pressure relief reminder system for pressure ulcer prevention among paraplegics[J].J Med Eng Technol,2021,45(7):574-581.
[75] Aguilar-Pérez LA,Paredes-Rojas JC,Sanchez-Cruz JI,et al.Design of an automated multiposition dynamic wheelchair[J].Sensors,2021,21(22):7533.
[76] Lee WC,Yao JA,Kuo CH.Development of a seat-adjustable power wheelchair[C]//Proceedings 2011 International Conference on System Science and Engineering.Macau:IEEE,2011:494-497.
[77] Hasnan KB,Saesar LB.A size-bed wheelchair design with scaled prototype[C]//Proceedings of the 2012 International Conference on Industrial Engineering and Operations Management.Changsha:IEEE,2012:3-6.
[78] Iwano Y.Development of reclining wheelchair with transfer assistance functions[C]//The 2012 International Conference on Advanced Mechatronic Systems.Tokyo:IEEE,2012:117-121.
[79] Wang D,Yu H.Mechanical Design of a Wheelchair with Multi-Posture Characteristics[C]//2017 2nd International Conference on Electrical,Automation and Mechanical Engineering(EAME 2017).Shanghai:IEEE,2017:181-185.
[80] Cui J,Huang Z,Li X,et al.Research on intelligent wheelchair attitude-based adjustment method based on action intention recognition[J].Micromachines,2023,14(6):1265.
[81] Porchéron F.Body support device for a stand-up wheelchair and wheelchair for said device:U.S.Patent 6,601,869[P].2003-8-5.
[82] Jenq-Huey S,Yeh YJ,Yang HM.Kinematic Modeling of a High-stability Standing Wheelchair[C]//Proceedings of the 14th IFToMM World Congress.Taipei:2015.
[83] Daud ME,Hamid Z,Desa AM.Development of Multi-Purpose Wheelchair[C]//2015 Innovation & Commercialization of Medical Electronic Technology Conference(ICMET).Selangor:IEEE,2015:22-25.
[84] Arva J,Schmeler MR,Lange ML,et al.RESNA position on the application of seat-elevating devices for wheelchair users[J].Assist Technol,2009,21(2):69-72.
[85] Huang Q,Chen Y,Zhang Z,et al.An EOG-based wheelchair robotic arm system for assisting patients with severe spinal cord injuries[J].J Neural Eng,2019,16(2):026021.
[86] Hochberg LR,Bacher D,Jarosiewicz B,et al.Reach and grasp by people with tetraplegia using a neurally controlled robotic arm[J].Nature,2012,485(7398):372-375.
[87] Witkowski M,Cortese M,Cempini M,et al.Enhancing brain-machine interface(BMI)control of a hand exoskeleton using electrooculography(EOG)[J].J Neuroeng Rehabil,2014,11(1):1-6.
[88] Kawase T,Sakurada T,Koike Y,et al.A hybrid BMI-based exoskeleton for paresis:EMG control for assisting arm movements[J].J Neural Eng,2017,14(1):016015.
[89] Al-Halimi RK,Moussa M.Performing complex tasks by users with upper-extremity disabilities using a 6-DOF robotic arm:a study[J].IEEE Trans Neural Syst Rehabil Eng,2016,25(6):686-693.
[90] Farahmand F,Pourazad MT,Moussavi Z.An intelligent assistive robotic manipulator[C]//2005 IEEE Engineering in Medicine and Biology 27th Annual Conference.Shanghai:IEEE,2006:5028-5031.
[91] 邱卓英,吴弦光,丁伯坦,等.残疾分类分级标准相关问题研究[J].中国康复理论与实践,2007,13(7):678-680.
[92] 中华人民共和国国家标准.《残疾人残疾分类和分级》.GB/T 26341-2010.
[93] Deverell L,Bentley SA,Ayton LN,et al.Effective mobility framework:a tool for designing comprehensive O&M outcomes research[J].Vision Rehabil Int,2015,7(1):74-86.
[94] Hardy P.Powered wheelchair mobility:an occupational performance evaluation perspective[J].Austral Occupat Ther J,2004,51(1):34-42.
[95] Koontz AM,Bass SR,Kulich HR.Accessibility facilitators and barriers affecting independent wheelchair transfers in the community[J].Disabil Rehabil Assist Technol,2021,16(7):741-748.
[96] Meyers AR,Anderson JJ,Miller DR,et al.Barriers,facilitators,and access for wheelchair users:sbstantive and methodologic lessons from a pilot study of environmental effects[J].Social Sci Med,2002,55(8):1435-1446.
[97] Carlsson A,Lund?lv J.Acute injuries resulting from accidents involving powered mobility devices(PMDs)—Development and outcomes of PMD-related accidents in Sweden[J].Traffic Injury Prev,2019,20(5):484-491.
[98] Leaman J,La HM.A comprehensive review of smart wheelchairs:past,present,and future[J].IEEE Trans Human-Mach Syst,2017,47(4):486-499.
[99] Kutbi M,Du X,Chang Y,et al.Usability studies of an egocentric vision-based robotic wheelchair[J].ACM Trans Human-Robot Int(THRI),2020,10(1):1-23.
[100] Zolotas M,Elsdon J,Demiris Y.Head-mounted augmented reality for explainable robotic wheelchair assistance[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Madrid:IEEE,2018:1823-1829.
[101] Zolotas M,Demiris Y.Towards explainable shared control using augmented reality[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Macau:IEEE,2019:3020-3026.
[102] Mortenson WB,Miller WC,Backman CL,et al.Association between mobility,participation,and wheelchair‐related factors in long‐term care residents who use wheelchairs as their primary means of mobility[J].J Am Geriatr Soc,2012,60(7):1310-1315.
[103] Hosseini SM,Oyster ML,Kirby RL,et al.Manual wheelchair skills capacity predicts quality of life and community integration in persons with spinal cord injury[J].Arch Phys Med Rehabil,2012,93(12):2237-2243.
[104] MacPhee AH,Kirby RL,Coolen AL,et al.Wheelchair skills training program:A randomized clinical trial of wheelchair users undergoing initial rehabilitation[J].Arch Phys Med Rehabil,2004,85(1):41-50.
[105] Best KL,Kirby RL,Smith C,et al.Wheelchair skills training for community-based manual wheelchair users:a randomized controlled trial[J].Arch Phys Med Rehabil,2005,86(12):2316-2323.
[106] ?ztürk A,Ucsular FD.Effectiveness of a wheelchair skills training programme for community-living users of manual wheelchairs in Turkey:a randomized controlled trial[J].Clin Rehabil,2011,25(5):416-424.
[107] Simpson RC,LoPresti EF,Cooper RA.How many people would benefit from a smart wheelchair?[J].J Rehabil Res Dev,2008,45(1):53-71.
[108] Marques B,Alves J,Neves M,et al.Interaction with virtual content using augmented reality:a user study in assembly procedures[J].Proceed ACM Human-Comp Int,2020,4(ISS):1-17.
[109] lves JB,Marques B,Ferreira C,et al.Comparing augmented reality visualization methods for assembly procedures[J].Virtual Real,2022:1-14.
[110] Marques B,Silva S,Alves J,et al.A conceptual model and taxonomy for collaborative augmented reality[J].IEEE Trans Visual Comp Graph,2021,28(12):5113-5133.
[111] Rashid Z,Melià-Seguí J,Pous R,et al.Using augmented reality and internet of things to improve accessibility of people with motor disabilities in the context of smart cities[J].Fut Gen Comp Syst,2017,76:248-261.
[112] Maio R,Marques B,Alves J,et al.An augmented reality serious game for learning intelligent wheelchair control:comparing configuration and tracking methods[J].Sensors,2022,22(20):7788.
基本信息:
DOI:
中图分类号:R496
引用信息:
[1]任海潮,赵润凯,李鹏程等.智能轮椅的适用人群功能障碍分类和临床易用匹配专家共识[J].中华保健医学杂志,2025,27(01):1-12.
基金信息:
国家重点研发计划(2020YFC2007405)