Archives of Physical Medicine and Rehabilitation
Volume 89, Issue 5 , Pages 996-1003 , May 2008

Development of a Wheelchair Virtual Driving Environment: Trials With Subjects With Traumatic Brain Injury

  • Donald M. Spaeth, PhD

      Affiliations

    • Human Engineering Research Laboratories, University of Pittsburgh, Pittsburgh, PA
    • Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA
    • Center of Excellence in Wheelchairs and Related Technology, VA Pittsburgh HealthCare System, Pittsburgh, PA.
    • Corresponding Author InformationReprint requests to Donald M. Spaeth, PhD, Human Engineering Research Laboratories, VA Pittsburgh HealthCare System, 7180 Highland Dr, Bldg 4, 2nd Fl E, 151R1-H, Pittsburgh, PA 15206
    • ,
  • Harshal Mahajan, MS

      Affiliations

    • Human Engineering Research Laboratories, University of Pittsburgh, Pittsburgh, PA
    • Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA
    • Center of Excellence in Wheelchairs and Related Technology, VA Pittsburgh HealthCare System, Pittsburgh, PA.
    • ,
  • Amol Karmarkar, MS

      Affiliations

    • Human Engineering Research Laboratories, University of Pittsburgh, Pittsburgh, PA
    • Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA
    • Center of Excellence in Wheelchairs and Related Technology, VA Pittsburgh HealthCare System, Pittsburgh, PA.
    • ,
  • Diane Collins, PhD

      Affiliations

    • Human Engineering Research Laboratories, University of Pittsburgh, Pittsburgh, PA
    • Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA
    • Center of Excellence in Wheelchairs and Related Technology, VA Pittsburgh HealthCare System, Pittsburgh, PA.
    • ,
  • Rory A. Cooper, PhD

      Affiliations

    • Human Engineering Research Laboratories, University of Pittsburgh, Pittsburgh, PA
    • Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA
    • Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA
    • Center of Excellence in Wheelchairs and Related Technology, VA Pittsburgh HealthCare System, Pittsburgh, PA.
    • ,
  • Michael L. Boninger, MD

      Affiliations

    • Human Engineering Research Laboratories, University of Pittsburgh, Pittsburgh, PA
    • Department of Physical Medicine and Rehabilitation, University of Pittsburgh, Pittsburgh, PA
    • Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA
    • Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA
    • Center of Excellence in Wheelchairs and Related Technology, VA Pittsburgh HealthCare System, Pittsburgh, PA.

  • Image Result

    The virtual driving environment. Subjects sit in a wheelchair; the head position monitor surrounds the back of the head and the isometric joystick or MSJ is adjusted for comfortable access. The displa

    The virtual driving environment. Subjects sit in a wheelchair; the head position monitor surrounds the back of the head and the isometric joystick or MSJ is adjusted for comfortable access. The display is a 1.2×2.4m (4×8ft) rear-projection screen. The racetrack task is used for familiarization. The investigator's laptop computer is visible in the foreground.

  • Image Result
    A screenshot of the tuning software used to configure the isometric joystick algorithms. A 30-second sample of the hand at rest creates the central bit plot. Four 2-minute samples at cruising speed on

    A screenshot of the tuning software used to configure the isometric joystick algorithms. A 30-second sample of the hand at rest creates the central bit plot. Four 2-minute samples at cruising speed on the 4 principle directions generate the cross bit plot. The circle and ellipse represent the best-fit transfer functions consistent with the data.

  • Image Result
    The 4 driving tasks used in the TBI trials: left turn, right turn, straight ahead, and docking. The tasks are presented randomly and performed in both forward and reverse directions.

    The 4 driving tasks used in the TBI trials: left turn, right turn, straight ahead, and docking. The tasks are presented randomly and performed in both forward and reverse directions.

  • Image Result
    Example of wheelchair icon pathways and range of performance; the upper row shows good joystick control, and the lower set shows impaired joystick control.

    Example of wheelchair icon pathways and range of performance; the upper row shows good joystick control, and the lower set shows impaired joystick control.

  • Image Result
    Average RMSE of the wheelchair icon for all 4 tasks in forward and reverse orientations. Abbreviation: IJ, isometric joystick.

    Average RMSE of the wheelchair icon for all 4 tasks in forward and reverse orientations. Abbreviation: IJ, isometric joystick.

  • Image Result
    Average speed of wheelchair icon for all 4 tasks in forward and reverse orientations.

    Average speed of wheelchair icon for all 4 tasks in forward and reverse orientations.

 Supported by the National Institute on Disability and Rehabilitation Research, U.S. Department of Education (grant no. H133A020502) and supported with resources and facilities by the Human Engineering Research Laboratories, VA Pittsburgh Healthcare System.No commercial party having a direct financial interest in the results of the research supporting this article has or will confer a benefit upon the authors or upon any organization with which the authors are associated.

PII: S0003-9993(08)00084-1

doi: 10.1016/j.apmr.2007.11.030

Archives of Physical Medicine and Rehabilitation
Volume 89, Issue 5 , Pages 996-1003 , May 2008

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