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Sivakanthan S, Dicianno BE, Koontz A, Adenaiye O, Sergeant JJG, Candiotti JL, Wang H, Cooper R, Cooper RA. Accessible Autonomous Transportation and Services: Design considerations from the perspective of consumers and providers. Arch Phys Med Rehabil 2024:S0003-9993(24)00951-1. [PMID: 38692503 DOI: 10.1016/j.apmr.2024.04.009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2023] [Revised: 04/17/2024] [Accepted: 04/19/2024] [Indexed: 05/03/2024]
Abstract
OBJECTIVE To understand the priorities and preferences of people with disabilities (PwDs) and older adults regarding accessible Autonomous Vehicles (AVs) to address existing transportation barriers. DESIGN Two national surveys, "Voice of the Consumer (VoC)" and "Voice of the Provider (VoP)," were conducted to gather feedback from accessible AV consumers and providers respectively in the United States (US). SETTING This US based study focused on PwDs and older adults who may face transportation challenges and those who provide or design AV solutions. PARTICIPANTS The 922 consumers and 45 providers in the surveys encompassed a diverse range of disability types, caregiver roles, and age groups. INTERVENTIONS Not Applicable MAIN OUTCOME MEASURES: The main outcomes are consumer usage needs and provider preferences for features in accessible autonomous transportation. Patterns in usage needs and feature preferences through two-step clustering algorithm was applied, subsequent to the descriptive analysis of participant demographics and their responses. RESULTS Participants strongly preferred AV features enhancing personal transportation, especially for rural medical appointments. Most sought comprehensive AV automated features. Wheelchair users emphasized accessible entrances, particularly for lower-income brackets ($25,000 - $49,000). Provider priorities closely aligned with consumer preferences, reinforcing content validity. CONCLUSION The study highlights the importance of prioritizing wheelchair accessibility in AVs and improving access to medical appointments, especially in rural and low-income communities. Implications include developing inclusive AV services for PwDs and underserved populations. The research establishes a foundation for a more equitable and accessible transportation landscape through AV technology integration.
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Affiliation(s)
- Sivashankar Sivakanthan
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Brad E Dicianno
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA; Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA; Department of Physical Medicine and Rehabilitation, University of Pittsburgh School of Medicine, Pittsburgh, PA, USA
| | - Alicia Koontz
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Oluwasanmi Adenaiye
- Department of Physical Medicine and Rehabilitation, University of Pittsburgh School of Medicine, Pittsburgh, PA, USA
| | | | - Jorge L Candiotti
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA; Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
| | - Hongwu Wang
- Department of Occupational Therapy, University of Florida, Florida, FL, USA
| | - Rosemarie Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Rory A Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA; Department of Physical Medicine and Rehabilitation, University of Pittsburgh School of Medicine, Pittsburgh, PA, USA.
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Candiotti JL, Sivakanthan S, Kanode J, Cooper R, Dicianno BE, Triolo R, Cooper RA. Evaluation of Power Wheelchair Dynamic Suspensions for Tip Prevention in Non-ADA Compliant Surfaces. Arch Phys Med Rehabil 2023; 104:2043-2050. [PMID: 37329969 PMCID: PMC10724372 DOI: 10.1016/j.apmr.2023.05.016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Revised: 05/20/2023] [Accepted: 05/22/2023] [Indexed: 06/19/2023]
Abstract
OBJECTIVE To evaluate the driving performance and usability of a mobility enhancement robot (MEBot) wheelchair with 2 innovative dynamic suspensions compared with commercial electric powered wheelchair (EPW) suspensions on non-American with Disabilities Act (ADA) compliant surfaces. The 2 dynamic suspensions used pneumatic actuators (PA) and electro-hydraulic with springs in series electrohydraulic and spring in series (EHAS). DESIGN Within-subjects cross-sectional study. Driving performance and usability were evaluated using quantitative measures and standardized tools, respectively. SETTING Laboratory settings that simulated common EPW outdoor driving tasks. PARTICIPANTS 10 EPW users (5 women, 5 men) with an average age of 53.9±11.5 years and 21.2±16.3 years of EPW driving experience (N=10). INTERVENTION Not applicable. MAIN OUTCOME MEASURE(S) Seat angle peaks (stability), number of completed trials (effectiveness), Quebec User Evaluation of Satisfaction with Assistive Technology (QUEST), and systemic usability scale (SUS). RESULTS MEBot with dynamic suspensions demonstrated significantly better stability (all P<.001) than EPW passive suspensions on non-ADA-compliant surfaces by reducing seat angle changes (safety). Also, MEBot with EHAS suspension significantly completed more trials over potholes compared with MEBot with PA suspension (P<.001) and EPW suspensions (P<.001). MEBot with EHAS had significantly better scores in terms of ease of adjustment (P=.016), durability (P=.031), and usability (P=.032) compared with MEBot with PA suspension on all surfaces. Physical assistance was required to navigate over potholes using MEBot with PA suspension and EPW suspensions. Also, participants reported similar responses regarding ease of use and satisfaction toward MEBot with EHAS suspension and EPW suspensions. CONCLUSIONS MEBot with dynamic suspensions improve safety and stability when navigating non-ADA-compliant surfaces compared with commercial EPW passive suspensions. Findings indicate MEBot readiness for further evaluation in real-world environments.
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Affiliation(s)
- Jorge L Candiotti
- Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Bioengineering, School Swanson of Engineering, University of Pittsburgh, Pittsburgh, PA.
| | - Sivashankar Sivakanthan
- Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Josh Kanode
- Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Rosemarie Cooper
- Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Brad E Dicianno
- Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Bioengineering, School Swanson of Engineering, University of Pittsburgh, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA; Department of Physical Medicine and Rehabilitation, School of Medicine, University of Pittsburgh, Pittsburgh, PA
| | - Ronald Triolo
- Advanced Platform Technology Center, Louis Stokes Veterans Affairs Hospital, Cleveland, OH
| | - Rory A Cooper
- Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Bioengineering, School Swanson of Engineering, University of Pittsburgh, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
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Sivakanthan S, Dicianno BE, Koontz A, Adenaiye O, Joseph J, Candiotti JL, Wang H, Cooper R, Cooper RA. Accessible autonomous transportation and services: voice of the consumer - understanding end-user priorities. Disabil Rehabil Assist Technol 2023:1-12. [PMID: 37987718 DOI: 10.1080/17483107.2023.2283066] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/16/2023] [Accepted: 11/08/2023] [Indexed: 11/22/2023]
Abstract
PURPOSE This study aimed to explore the requirements for accessible Autonomous Vehicles (AVs) and AV services from a consumer perspective, focusing on people with disabilities (PwDs) and older adults. METHODS Two national surveys were conducted, capturing current transportation trends and AV priorities. Participants (n = 922) with disabilities and older adults were included in the analysis. RESULTS Transportation choices exhibited significant divergence based on the underlying causes of disabilities, showcasing distinct inclinations and impediments within each category. AV services, encompassing family conveyance and package delivery, proved integral, but their specific desirability fluctuated in accordance with the nature of disabilities. Notably, medical appointments emerged as the foremost AV utilisation requirement, particularly pronounced among individuals with hearing impairments. Preferences for orchestrating AV rides and the preferred vehicle types displayed disparities linked to the various disability classifications. The employment of mobile applications, websites, and text messages were preferred mediums for arranging rides. Features such as automated route guidance and collision prevention garnered unanimous precedence among AV attributes. Key priorities, spanning wheelchair accessibility, user profiles, and seamless communication with AVs, were universally emphasised across all participant clusters. The study indicated a moderate comfort level with AV deployment, implying the potential for favourable reception within the population of PwDs and older adults. CONCLUSION The study highlights the significance of considering diverse needs in accessible AV development of vehicle and infrastructure and policies.
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Affiliation(s)
- Sivashankar Sivakanthan
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Brad E Dicianno
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
- Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
- Department of Physical Medicine and Rehabilitation, University of Pittsburgh School of Medicine, Pittsburgh, PA, USA
| | - Alicia Koontz
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Oluwasanmi Adenaiye
- Department of Physical Medicine and Rehabilitation, University of Pittsburgh School of Medicine, Pittsburgh, PA, USA
| | | | - Jorge L Candiotti
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
- Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
| | - Hongwu Wang
- Department of Occupational Therapy, University of Florida, Florida, FL, USA
| | - Rosemarie Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Rory A Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
- Department of Physical Medicine and Rehabilitation, University of Pittsburgh School of Medicine, Pittsburgh, PA, USA
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Sivakanthan S, Cooper R, Lopes C, Kulich H, Deepak N, Lee CD, Wang H, Candiotti JL, Dicianno BE, Koontz A, Cooper RA. Accessible autonomous transportation and services: a focus group study. Disabil Rehabil Assist Technol 2023:1-8. [PMID: 37548013 DOI: 10.1080/17483107.2023.2242898] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/08/2023]
Abstract
PURPOSE Existing automated vehicle transportation guidelines and regulations have minimal guidance to address the specific needs of people with disabilities. Accessibility should be at the forefront to increase autonomy and independence for people with disabilities. The purpose of this research is to better understand potential facilitators and barriers to using accessible autonomous transportation. METHODS Focus groups were conducted with key stakeholders derived from people with disabilities (n = 5), travel companions/caregivers (n = 5), and transportation experts or designers (n = 11). RESULTS The themes include describing stakeholder perceptions across all three groups by identified themes: autonomous vehicle assistive technology, autonomy vs automation, cost, infrastructure, safety & liability, design challenges, and potential impact. CONCLUSION Specific gaps and needs were identified regarding barriers and facilitators for transportation accessibility and evidence-based guidance. These specific gaps can help to formulate design criteria for the communication between, the interior and exterior of accessible autonomous vehicles.
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Affiliation(s)
- Sivashankar Sivakanthan
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
| | - Rosemarie Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
| | - Celia Lopes
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Faculty of Physical Education and Physiotherapy at Federal, University of Uberlandia, Uberlandia, MG, Brazil
- Brazilian Center of Reference in Technological Innovations for Paralympic Sports- CINTESP.Br/UFU, Uberlandia, MG, Brazil
| | - Hailee Kulich
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
| | - Nikitha Deepak
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
| | - Chang Dae Lee
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
| | - Hongwu Wang
- Department of Occupational Therapy, College of Public Health and Health Professions, University of FL, Gainesville, FL, USA
| | - Jorge L Candiotti
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Department of Bioengineering, School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
| | - Brad E Dicianno
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
- Department of Physical Medicine and Rehabilitation, School of Medicine, University of Pittsburgh, Pittsburgh, PA, USA
| | - Alicia Koontz
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
| | - Rory A Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System and University of Pittsburgh, Pittsburgh, PA, USA
- Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, USA
- Department of Bioengineering, School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
- Department of Physical Medicine and Rehabilitation, School of Medicine, University of Pittsburgh, Pittsburgh, PA, USA
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Lee CD, Daveler BJ, Candiotti JL, Cooper R, Sivakanthan S, Deepak N, Grindle GG, Cooper RA. Usability and Vibration Analysis of a Low-Profile Automatic Powered Wheelchair to Motor Vehicle Docking System. Vibration 2023; 6:255-268. [PMID: 37885763 PMCID: PMC10601336 DOI: 10.3390/vibration6010016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 10/28/2023]
Abstract
The QLX is a low-profile automatic powered wheelchair docking system (WDS) prototype developed to improve the securement and discomfort of wheelchair users when riding in vehicles. The study evaluates the whole-body vibration effects between the proposed QLX and another WDS (4-point tiedown system) following ISO 2631-1 standards and a systematic usability evaluation. Whole-body vibration analysis was evaluated in wheelchairs using both WDS to dock in a vehicle while riding on real-world surfaces. Also, participants rated the usability of each WDS while driving a wheelchair and while riding in a vehicle in driving tasks. Both WDSs showed similar vibration results within the vibration health-risk margins; but shock values below health-risk margins. Fifteen powered wheelchair users reported low task load demand to operate both WDS; but better performance to dock in vehicles with the QLX (p = 0.03). Also, the QLX showed better usability (p < 0.01), less discomfort (p's < 0.05), and greater security compared to the 4-point tiedown while riding in a vehicle (p's < 0.05). Study findings indicate that both WDS maintain low shock exposure for wheelchair users while riding vehicles, but a better performance overall to operate the QLX compared to the 4-point tiedown system; hence enhancing user's autonomy to dock in vehicles independently.
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Affiliation(s)
- Chang Dae Lee
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Brandon J. Daveler
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Jorge L. Candiotti
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Rosemarie Cooper
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Sivashankar Sivakanthan
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Nikitha Deepak
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Garrett G. Grindle
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
| | - Rory A. Cooper
- Human Engineering Research Laboratories, Department of Veterans Affairs Pittsburgh Healthcare System, University of Pittsburgh, Pittsburgh, PA 15206, USA
- Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15213, USA
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA 15213, USA
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Sivakanthan S, Candiotti JL, Sundaram AS, Duvall JA, Sergeant JJG, Cooper R, Satpute S, Turner RL, Cooper RA. Mini-review: Robotic wheelchair taxonomy and readiness. Neurosci Lett 2022; 772:136482. [PMID: 35104618 PMCID: PMC8887066 DOI: 10.1016/j.neulet.2022.136482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/12/2021] [Revised: 01/21/2022] [Accepted: 01/24/2022] [Indexed: 01/05/2023]
Abstract
Robotic wheelchair research and development is a growing sector. This article introduces a robotic wheelchair taxonomy, and a readiness model supported by a mini-review. The taxonomy is constructed by power wheelchair and, mobile robot standards, the ICF and, PHAATE models. The mini-review of 2797 articles spanning 7 databases produced 205 articles and 4 review articles that matched inclusion/exclusion criteria. The review and analysis illuminate how innovations in robotic wheelchair research progressed and have been slow to translate into the marketplace.
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Affiliation(s)
- Sivashankar Sivakanthan
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Jorge L Candiotti
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Andrea S Sundaram
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Jonathan A Duvall
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | | | - Rosemarie Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA
| | - Shantanu Satpute
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA; Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
| | - Rose L Turner
- Health Science Library System, University of Pittsburgh, Pittsburgh, PA, USA
| | - Rory A Cooper
- Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, PA, USA; Human Engineering Research Laboratories, School of Health and Rehabilitation Sciences, Pittsburgh, PA, USA.
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Candiotti JL, Daveler BJ, Sivakanthan S, Grindle GG, Cooper R, Cooper RA. Curb Negotiation With Dynamic Human-Robotic Wheelchair Collaboration. IEEE Trans Hum Mach Syst 2021; 52:149-155. [PMID: 35433138 PMCID: PMC9009297 DOI: 10.1109/thms.2021.3131672] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Wheelchair users often face architectural barriers such as curbs, limiting their accessibility, mobility, and participation in their communities. The mobility enhancement robotic (MEBot) wheelchair was developed to navigate over such architectural barriers. Its application allows wheelchair users to negotiate curbs automatically while the user remains in control. The application was optimized from a manual to a semiautomated process based on wheelchair users' feedback. The optimized application was evaluated by experienced wheelchair users who navigated over curbs of different heights. Participants evaluated MEBot in terms of effectiveness, workload demand, and usability. Ten participants successfully ascended and descended curbs of different heights at an average completion time of 55.7 ± 19.5 and 30.3 ± 9.1 s, respectively. MEBot maintained stability during the process, while participants reported low levels of effort, frustration, and overall cognitive demand to operate MEBot. Furthermore, participants were satisfied with the ease of learning and using the MEBot curb negotiation application to overcome the curbs but suggested less wheel adjustment for comfort and a faster pace to overcome curbs during real-world conditions.
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Affiliation(s)
- Jorge L Candiotti
- Center of Excellence in Wheelchairs and Robotics Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA 15206 USA
| | - Brandon J Daveler
- Center of Excellence in Wheelchairs and Robotics Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA 15206 USA; School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA 15260 USA
| | - Sivashankar Sivakanthan
- Center of Excellence in Wheelchairs and Robotics Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA 15206 USA; School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA 15260 USA
| | - Garrett G Grindle
- Center of Excellence in Wheelchairs and Robotics Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA 15206 USA; School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA 15260 USA
| | - Rosemarie Cooper
- Center of Excellence in Wheelchairs and Robotics Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA 15206 USA; School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA 15260 USA
| | - Rory A Cooper
- Center of Excellence in Wheelchairs and Robotics Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA 15206 USA; School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA 15260 USA
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Džafić D, Candiotti JL, Cooper RA. Improving wheelchair route planning through instrumentation and navigation systems. Annu Int Conf IEEE Eng Med Biol Soc 2020; 2020:5737-5740. [PMID: 33019277 PMCID: PMC8883793 DOI: 10.1109/embc44109.2020.9176481] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/05/2023]
Abstract
Route planning is an important tool to reach points of interest. The current technology offers options for public transportation and pedestrians on the road and sidewalks, respectively. However, for people who use electric powered wheelchairs (EPW) as their primary means of mobility, the level of accessibility and EPW battery consumption are important during route planning. This paper introduces the concept of an accessible route navigation application to reduce EPW battery consumption. The application, called eNav, uses five layers of information including OpenStreetMaps (OSM), airborne laser scanner (ALS), Point-of-Interests (POIs), public transportation, and crowdsourcing. eNav collects these layers of information to provide the shortest, most accessible, and most comfortable routes that consume the least amount of EPW battery. Additionally, the paper presents the Mobility Enhancement roBot (MEBot), a legged-wheeled power wheelchair, to drive over architectural barriers and less accessible environments. The paper proposes the use of MEBot as a sixth layer of information to inform eNav and road authorities about sidewalk/route conditions, to improve road accessibility, and to provide an energy efficient route planning for non-MEBot users.
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Affiliation(s)
| | - Jorge L. Candiotti
- Center for Wheelchairs and Related Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA, 15206, USA and the School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, 15206, USA
| | - Rory A. Cooper
- Center for Wheelchairs and Related Engineering, Veterans Affairs Pittsburgh Healthcare Systems and Human Engineering Research Laboratories, Pittsburgh, PA, 15206, USA and the School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA, 15206, USA
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Candiotti JL, Daveler BJ, Kamaraj DC, Chung CS, Cooper R, Grindle GG, Cooper RA. A Heuristic Approach to Overcome Architectural Barriers Using a Robotic Wheelchair. IEEE Trans Neural Syst Rehabil Eng 2019; 27:1846-1854. [PMID: 31403434 DOI: 10.1109/tnsre.2019.2934387] [Citation(s) in RCA: 16] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/05/2023]
Abstract
The Mobility Enhancement roBotic (MEBot) wheelchair was developed to improve the safety and accessibility of wheelchair users when facing architectural barriers. MEBot uses pneumatic actuators attached to its frame and six wheels to provide curb ascending/descending for heights up to 20.3 cm. To improve MEBot's application, this study used a heuristic approach with power wheelchair users to evaluate and improve the MEBot application at different curb heights. Wheelchair users were trained on MEBot's features to operate its curb ascending/descending application. Three trials were carried out with wheelchair users ascending and descending three curbs of different height. Quantitative variables were analyzed to improve the sequential steps to ascend/descend curbs. Additionally, the application's effectiveness and efficiency were measured by the number of completed tasks, change in seat angle, and task completion time. Results showed that participants completed each trial and applied alternative strategies to traverse different curb heights. Furthermore, results suggested the combination and/or re-arrangement of steps to reduce task completion time. MEBot demonstrated its effectiveness to ascend/descend different curb heights with a heterogeneous participant sample. Future work will incorporate participant's most efficient strategies to improve the ascending/ascending process and the efficiency of the MEBot application.
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Candiotti JL, Kamaraj DC, Daveler B, Chung CS, Grindle GG, Cooper R, Cooper RA. Usability Evaluation of a Novel Robotic Power Wheelchair for Indoor and Outdoor Navigation. Arch Phys Med Rehabil 2019; 100:627-637. [PMID: 30148995 PMCID: PMC10041662 DOI: 10.1016/j.apmr.2018.07.432] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/02/2018] [Revised: 07/09/2018] [Accepted: 07/17/2018] [Indexed: 01/05/2023]
Abstract
OBJECTIVE To compare the Mobility Enhancement roBotic (MEBot) wheelchair's capabilities with commercial electric-powered wheelchairs (EPWs) by performing a systematic usability evaluation. DESIGN Usability in effectiveness, efficacy, and satisfaction was evaluated using quantitative measures. A semistructured interview was employed to gather feedback about the users' interaction with MEBot. SETTING Laboratory testing of EPW driving performance with 2 devices in a controlled setting simulating common EPW driving tasks. PARTICIPANTS A convenience sample of expert EPW users (N=12; 9 men, 3 women) with an average age of 54.7±10.9 years and 16.3± 8.1 years of EPW driving experience. INTERVENTIONS Not applicable. MAIN OUTCOME MEASURES Powered mobility clinical driving assessment (PMCDA), Satisfaction Questionnaire, National Aeronautics and Space Administration's Task Load Index. RESULTS Participants were able to perform significantly higher number of tasks (P=.004), with significantly higher scores in both the adequacy-efficacy (P=.005) and the safety (P=.005) domains of the PMCDA while using MEBot over curbs and cross-slopes. However, participants reported significantly higher mental demand (P=.005) while using MEBot to navigate curbs and cross-slopes due to MEBot's complexity to perform its mobility applications which increased user's cognitive demands. CONCLUSIONS Overall, this usability evaluation demonstrated that MEBot is a promising EPW device to use indoors and outdoors with architectural barriers such as curbs and cross-slopes. Current design limitations were highlighted with recommendations for further improvement.
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Affiliation(s)
- Jorge L Candiotti
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Deepan C Kamaraj
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Brandon Daveler
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Cheng-Shiu Chung
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Garrett G Grindle
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Rosemarie Cooper
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA
| | - Rory A Cooper
- Center of Excellence in Wheelchairs and Associated Rehabilitation Engineering, Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, Pittsburgh, PA.
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