This thesis study focuses on the realization of an online cue based Motor Imagery (MI) Brain Computer Interface (BCI). For this purpose, some signal processing and classification methods are investigated. Specifically, several time-spatial-frequency methods, namely the Short Time Fourier Transform (STFT), Common Spatial Frequency Patterns (CSFP) and the Morlet Transform (MT) are implemented on a 2-class MI BCI system. Distinction Sensitive Learning Vector Quantization (DSLVQ) method is used as a feature selection method. The performance of these methodologies is evaluated with the linear and nonlinear Support Vector Machines (SVM), Multilayer Perceptron (MLP) and Naive Bayesian (NB) classifiers. The methodologies are tested on BCI Competition IV dataset IIb and an average kappa value of 0.45 is obtained on the dataset. According to the classification results, the algorithms presented here obtain the 4th level in the competition as compared to the other algorithms in the competition. Offline experiments are performed in METU Brain Research Laboratories and Hacettepe Biophysics Department on two subjects with the original cue-based MI BCI paradigm. Average prediction accuracy of the methods on a 2-class BCI is evaluated to be 76.26% in these datasets. Furthermore, two online BCI applications are developed: the ping-pong game and the electrical wheelchair control. For these applications, average classification accuracy is found to be 70%. During the offline experiments, the performance of the developed system is observed to be highly dependent on the subject training and experience. According to the results, the EEG channels P3 and P4, which are considered to be irrelevant with the motor imagination, provided the best classification performance on the offline experiments. Regarding the observations on the experiments, this process is related to the stimulation mechanism in the cue based applications and consequent visual evoking effects on the subjects.

The dynamics of rigid body motion are dependent on the inertial properties of the body - that is, the mass and moment of inertia. For complex systems, it may be necessary to derive these results empirically. Such is the case for manual wheelchairs, which can be modeled as a rigid body frame connected to four wheels. While 3D modeling software is capable of estimating inertial parameters, modeling inaccuracies and ill-defined material properties may introduce significant errors in this estimation technique and necessitate experimental measurements. To that end, this thesis discusses the design of a device called the iMachine that empirically determines the mass, location of the center of mass, and moment of inertia about the vertical (yaw) axis passing through the center of mass of the wheelchair. The iMachine is a spring-loaded rotating platform that freely oscillates about an axis passing through its center due to an initial angular velocity. The mass and location of the center of mass can be determined using a static analysis of a triangular configuration of load cells. An optical encoder records the dynamic angular displacement of the platform, and the natural frequency of free vibration is calculated using several techniques. Finally, the moment of inertia is determined from the natural frequency of the system. In this thesis, test results are presented for the calibration of the load cells and spring rate. In addition, objects with known mass properties were tested and comparisons are made between the analytical and empirical inertia results. In general, the mass measurement of the test object had greater than 99% accuracy. The average relative error for the x and y-coordinates of the center of mass was 0.891% and 1.99%, respectively. For the moment of inertia, a relationship was established between relative error and the ratio of the test object inertia to the inertia of the system. The results suggest that 95% accuracy can be achieved if the test object accounts for at least 25% of the total inertia of the system. Finally, the moment of inertia of a manual wheelchair is determined using the device (I = 1.213 kg-m²), and conclusions are made regarding the reliability and validity of results. The results of this project will feed into energy calculations for the Anatomical Model Propulsion System (AMPS), a wheelchair-propelling robot used to measure the mechanical efficiency of manual wheelchairs.

This study investigated a series of independent unassisted and device-assisted transfers from a wheelchair to vehicle mock-up and vice versa while simultaneously capturing kinematic, kinetic and electromyographic (EMG) data of impaired volunteers. The study provides a venue for observation and evaluation of upper extremity (UE) joint stresses, muscular force and functional demands associated with transfers in persons with spinal cord injury (SCI) to ultimately prevent UE injury, minimize excessive stress, preserve functionality and limit pain. If people with SCI lose function of their UEs, due to pain and/or degeneration, they must then rely on others for everyday tasks. Five paraplegic males from the Tampa Bay area were recruited to take part in the study. Participants were asked to perform a series of transfers using 4 commercially available devices or mock-ups of that device as well as an unassisted transfer, which permitted the use of no assistive device. Three data types were captured: kinematic data using motion capture, kinetic data using force transducers which were integrated into the vehicle mock-up and EMG of 5 bilateral muscle groups. Data collection took approximately 4 hours per subject. Forces occurring during the unassisted transfers were found to be the highest. This is also supported by the EMG data. Performing level transfers lessened stresses at the UE versus non-level transfers. The highest moments of the UEs were found at the shoulders with high variability between subjects. It was also found that body mass index (BMI) had an affect on a subjects ability to perform transfers. Ultimately this study found that using an assistive device is better than not using an assistive device. This is proven by EMG and force data, which were both found to be less with the use of an assistive device as opposed to transferring independently with no assistance. Performing level transfers, maintaining ones body mass and staying active are all factors that will limit stresses at the UEs during wheelchair transfers to and from a vehicle.

科学研究費補助金 研究種目:基盤研究(B)(2) 課題番号:09558003 研究代表者:池上 康男 研究期間:1997-1998年度

Denna rapport omfattar skapandet av en träningsmiljö tänkt att placeras utomhus i Karlstad och är anpassad för rullstolsburna individer. Arbetet har utförts på uppdrag av Karlstad kommun och motsvarar som ett examensarbete för högskoleingenjörsexamen inom Innovationsteknik och Design, vid fakulteten för Hälsa, Natur och Teknikvetenskap. Arbetet har utförts vid Karlstad Universitet under våren 2014. Karlstad kommun har sett ett behov av träningsutrustning i utomhusmiljö tillgängligt för rullstolsburna. På många träningsplatser i dagsläget stängs rullstolsburna ute från träning då det finns få möjligheter att justera den utrustning som erbjuds. Ur ett användarperspektiv anses träningsmöjligheterna vara otillräckliga vilket har legat till grund för detta arbete. Utfrån uppdragsgivarens synpunkt och krav samt genom informationsinsamling, intervjuer och obervationer formulerades en produktspecifikation. Produktspecifikationen omfattar huvudbehovet och andra nödvändiga behov för att platsen skall fungera som mötesplats med inriktningen ”träning för rullstolsburna”. Det ställs bland annat krav på användarvänlighet, hållbarhet och säkerhet. Konceptutvecklingen har följt den designprocess som används inom ramarna för innovationsteknik och Design. Vid utvecklingsprocessen användes skisser och CAD som hjälpmedel för att enkelt kunna simulera konstruktioner och lösningar på problem. Genereringsprocessen gav ett resultat på nitton olika lösningar som därefter utvärderas med hjälp av eliminerings- och utvärderingsmatriser. Det slutgiltliga konceptet motsvarar en träningsplats med fem maskiner speciellt anpassade för rullstolsburna där allsidig träning erbjuds. Träningsutrustningen är tänkt att kunna användas av alla individer oavsett tidigare erfarenhet och kunskap om träning. Maskinerna tillåter att hela övre delen av kroppen kan tränas, att manövrering på platsen är enkel och att skaderisken är låg. / The report deals with the subject of an outdoor gym located in Karlstad adapted and accessible for wheelchair using individuals. The work is performed within the course degree project for degree of Bachelor of Science in Innovation and design engineering, MSGC12 at the faculty of health, nature and engineering science at Karlstad University. The work has taken place at Karlstad University in the spring in 2014. Karlstad municipality has seen a need for exercise equipment in an outdoor environment that is accessible to wheelchair users. In today’s outdoor gyms wheelchair are users shut out. This is due to the face that the equipment is not adjusted accordingly. From a user perspective this is considered to be inadequate training opportunities and has been the basis for the creation of the outdoor gym, adjusted for wheelchair users. Based on the requirements from the client's point of view, data collection, interviews and observations a product specification was developed. The specification covers the main requirements and other necessary requirements for the site to function as a meeting place with focus on training for wheelchair users. The specification includes demands such as ease of use, durability and safety. Concept development has followed the design process used in the context of innovation, technology and design. During the development process sketches and CAD was used as means to easily simulate designs and solutions to problems. The concept generation process yielded a score of nineteen different solutions which is subsequently evaluated using elimination and evaluation matrix. Diagrams for how well each concept met the required conditions were used to evaluate in its entirety. The final concept is an outdoor gym which provides the opportunity for wheelchair users to work-out and preform rehabilitation exercises. The facility is equipped with five machines adjusted for wheelchair users which offer comprehensive training. Exercise equipment is intended to be used by all individuals regardless of previous experience and knowledge of training. The machines allow the entire upper part of the body to be trained. The operation of the site is simple and the risk of injury is low.

Fundação de Amparo a Pesquisa no Estado do Rio Grande do Sul / We come upon critical about to dance and doing dance through techniques or "nontechnical" based in the repetition and copying movements, studies that warn us to the necessity of theoretical insights to legitimize dance and to dance as an expression and communication. Thinking about Wheelchair Dance (DCR) as a manifestation of increasing dance in search of spaces beyond the standardization of movements and gestures, we traced as the central objective of this study was to establish relationships between the Theory of "Self - Move Human" with the DCR teaching. To do this, we long constitute theorists deepening about the Dance that originated notes on aspects inherent the theme, as expressiveness, sensitivity, perception, body and creativity. From this we outline of intervention possibilities for DCR teaching. We understand that they ought not to study, research, write about Dance, one consisting phenomenon of imperceptible variables, by following a predefined method, based on certain assumptions. We commit to develop a theoretical research, a reflection on Dance, incited to argue and write about this phenomenon, enabling new syntheses go to meet the sense and meaning from our study, of our work. We find, in the dialogic relationship movement, possibilities for "doing dance" of expressive and communicative way, taking into account the senses and meanings intertwined in the movement of the subject danceable. / Deparamo-nos com as críticas acerca do dançar e do fazer dança por meio de técnicas ou não técnicas embasadas na repetição e cópia de movimentos, estudos que nos alertam à necessidade de aprofundamentos teóricos para legitimar a Dança e o dançar enquanto expressão e comunicação. Pensando na Dança em Cadeira de Rodas (DCR) enquanto uma manifestação de Dança crescente em busca de espaços para além da padronização de movimentos e gestos, traçamos como objetivo central deste estudo estabelecer relações entre a Teoria do Se-Movimentar Humano com o ensino da DCR. Para isso, ansiamos constituir aprofundamentos teóricos sobre a Dança que originaram apontamentos sobre aspectos inerentes ao tema, como expressividade, sensibilidade, percepção, corpo e criatividade. A partir disso, delineamos possibilidades de intervenção para o ensino da DCR. Compreendemos que não convém estudar, pesquisar, escrever sobre a Dança, um fenômeno constituído de variáveis imperceptíveis, seguindo um método predefinido, alicerçado em pressupostos determinados. Comprometemo-nos a desenvolver uma pesquisa teórica, uma reflexão sobre a Dança, incitados a argumentar e a escrever sobre esse fenômeno, possibilitando às novas sínteses ir ao encontro do sentido e do significado do nosso estudo, do nosso trabalho. Encontramos, na relação dialógica de movimento, possibilidades para um fazer dança de forma expressiva e comunicativa, levando-se em consideração os sentidos e os significados imbricados no movimento do sujeito dançante.

Submitted by Aelson Maciera (aelsoncm@terra.com.br) on 2017-08-29T18:19:24Z No. of bitstreams: 1 DissLCBC.pdf: 4202058 bytes, checksum: 7cbca73387e14969ba519cbe35c38780 (MD5) / Approved for entry into archive by Ronildo Prado (producaointelectual.bco@ufscar.br) on 2017-11-09T17:47:10Z (GMT) No. of bitstreams: 1 DissLCBC.pdf: 4202058 bytes, checksum: 7cbca73387e14969ba519cbe35c38780 (MD5) / Approved for entry into archive by Ronildo Prado (producaointelectual.bco@ufscar.br) on 2017-11-09T17:47:20Z (GMT) No. of bitstreams: 1 DissLCBC.pdf: 4202058 bytes, checksum: 7cbca73387e14969ba519cbe35c38780 (MD5) / Made available in DSpace on 2017-11-09T17:55:04Z (GMT). No. of bitstreams: 1 DissLCBC.pdf: 4202058 bytes, checksum: 7cbca73387e14969ba519cbe35c38780 (MD5) Previous issue date: 2017-02-20 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Introduction: The Wheelchair Skills Test Questionnaire is a tool that measures the functional mobility in different environments and that can contribute to improving the skills of people in wheelchairs reflecting on trust, safety and independence. In Brazil, there is a gap of assessment, encompassing the use of assistive technology and functional mobility at the level of the necessary skills in the daily lives of people who use wheelchairs and caregivers. Objective: Cross-cultural adaptation of Wheelchair Skills Test Questionnaire (WST-Q), version 4.3 for manual wheelchair users and caregivers, to Portuguese language (Brazil). Methodology: The methodological procedure involved the steps of: 1) translation; 2) back translation; 3) analysis by a committee of experts; 4) pretest according to international guidelines. Results: The version was assessment by 15 wheelchair users and 15 caregivers. In total 8 out of 30 participants presented suggestions to facilitate an understanding of the target audience. The instrument is displayed for easy understanding. Conclusion: The participants approved the WST-Q 4.3 as useful in the Brazilian reality. It is recommended to evaluate the measurement properties for a version in a representative sample. / Introdução: O Wheelchair Skills Test Questionnaire é uma ferramenta que avalia a mobilidade funcional em diferentes ambientes e que pode contribuir para melhorar as habilidades de pessoas em cadeira de rodas repercutindo na confiança, segurança e independência. No Brasil, existe uma lacuna de ferramentas de avaliação, que articulem o uso da tecnologia assistiva e a mobilidade funcional no nível das capacidades necessárias no cotidiano de pessoas que usam cadeira de rodas e de cuidadores. Objetivo: realizar a adaptação transcultural do instrumento Wheelchair Skills Test Questionnaire (WST-Q), versão 4.3 para usuários de cadeiras de rodas manuais e cuidadores, na língua portuguesa (Brasil). Metodologia: O procedimento metodológico envolveu as etapas de: 1) tradução; 2) retrotradução; 3) Análise por um comitê de especialistas; 4) pré-teste conforme diretrizes internacionais. Resultados: A versão resultante deste processo passou por um pré-teste com a população alvo, 15 usuários de cadeira de rodas e 15 cuidadores. No total 8 de 30 participantes apresentaram sugestões para facilitar a compreensão do público alvo. O instrumento se mostrou de fácil compreensão. Conclusão: Os participantes avaliaram o WST-Q 4.3 como útil à realidade brasileira. Recomenda-se avaliação das propriedades de medidas dessa versão numa amostra representativa.

Diploma thesis deals with a suspension system of cords and slings called Redcord. Redcord helps physiotherapists as their auxiliary third hand. Redcord has a wide range of application. The main goal of the thesis is to develop and test training units in Redcord for spinal patients on a wheelchair in the Rehabilitation Institute Kladruby. This goal was successfully realized and the group exercise in Redcord were implemented between the procedures of the rehabilitation program. The study also discusses the effectiveness of exercise in Redcord, the evaluation of different dosage of load and monitoring the progression of a group training. The group exercise in Redcord for spinal patients on a wheelchair is effective, because it allows the same exercise training for patients with different level of spinal cord lesion and different stability of the trunk. This is possible thanks to the various dosage of load in Redcord. The feedback from spinal patients has been verified by subjective evaluation in the form of a questionnaire supplemented with a interview.

Made available in DSpace on 2016-06-02T20:00:20Z (GMT). No. of bitstreams: 1 DissCLGKJ.pdf: 4913515 bytes, checksum: df91d15585b7987e19462170703fc9f7 (MD5) Previous issue date: 2007-08-06 / The present dissertation work in Urban Engineering of the Federal University of São Carlos (UFSCar) aims to define an easy and practical form of evaluating the level of service in public spaces destined to the carriers of physical deficiency (sidewalks and streets passages) through the determination of an index that considers the parameters of higher importance by the point of view of wheelchair users. The index is defined through the identification and the ordinance of variables based on physical and environment characterization of sidewalks related to aspects of quality such as comfort, security and conditions of the environment. The weighing scale of the variables of physical and environment characterization of sidewalks (importance degree) is carried through analysis based on wheelchair users perception, therefore defining the ISPA - Index of Sidewalks and Passages Accessibility, and verifying its functionality through auditor work also performed with wheelchairs users advice in two places of São Carlos city. Through this tool of evaluation, the agencies of road management can evaluate the quality of the public spaces in a total route or specific stretches of the essential displacements for the real participation of the person with locomotion difficulties in society. / O presente trabalho de dissertação do mestrado em Engenharia Urbana da UFSCar - Universidade Federal de São Carlos visa definir uma forma fácil e prática de se avaliar o nível de serviço dos espaços públicos destinados aos portadores de deficiência física (calçadas e travessias de ruas) através da determinação de um índice que considere os parâmetros de maior importância sob o ponto de vista dos usuários de cadeira de rodas (cadeirantes). O índice é definido através da identificação e a ordenação de variáveis de caracterização física e ambiental das calçadas relacionadas aos aspectos de qualidade de conforto, segurança e condições do ambiente. A ponderação das variáveis de caracterização física e ambiental das calçadas (grau de importância) é realizada através de análise da percepção dos cadeirantes, definindo-se, desta forma o IACT Índice de Acessibilidade das Calçadas e Travessias, e verificando sua funcionalidade através de auditoria realizada com auxílio também de cadeirantes selecionados para realizar testes em dois locais da cidade de São Carlos. Através desta ferramenta de avaliação, os órgãos de gestão viária podem avaliar a qualidade dos espaços públicos em uma rota total ou em trechos específicos dos deslocamentos imprescindíveis para a real participação da pessoa com dificuldade de locomoção na sociedade.

Submitted by JÚLIO OLIVETO ALVES null (julio.oliveto@gmail.com) on 2017-08-29T12:48:26Z No. of bitstreams: 1 versão digital - VEÍCULO MOTORIZADO ELÉTRICO MODULAR DE ACOPLAMENTO UNIVERSAL EM CADEIRAS DE RODAS MECANOMANUAL.pdf: 6431267 bytes, checksum: 267c216f343be2e22e3e8daad61fe7a8 (MD5) / Approved for entry into archive by Luiz Galeffi (luizgaleffi@gmail.com) on 2017-08-29T13:09:02Z (GMT) No. of bitstreams: 1 alves_jo_dr_guara.pdf: 6431267 bytes, checksum: 267c216f343be2e22e3e8daad61fe7a8 (MD5) / Made available in DSpace on 2017-08-29T13:09:03Z (GMT). No. of bitstreams: 1 alves_jo_dr_guara.pdf: 6431267 bytes, checksum: 267c216f343be2e22e3e8daad61fe7a8 (MD5) Previous issue date: 2017-08-08 / O presente trabalho de pesquisa consiste na concepção de um veículo motorizado elétrico modular de acoplamento universal em qualquer modelo de cadeira de rodas mecanomanual. Trata-se de um equipamento eletro-mecânico, disponibilizado em forma de acessório, com estrutura física simplificada e alta tecnologia eletrônica aplicada capaz de proporcionar ao cadeirante maior liberdade de movimentação sem desgastes físicos. A aliança entre o design inclusivo e a área médica pode se relevar um passo importante na obtenção de produtos direcionados para as necessidades reais de pessoas com condições físicas e psíquicas particulares, melhorando o seu bem-estar e capacidade de execução de atividades no dia a dia. Desta forma, o presente trabalho é direcionado pelos fundamentos do design inclusivo com o principal ponto focal no usuário, mas que apresenta outros dois importantes pilares adotados em sua metodologia de desenvolvimento, sendo eles, o benchmarkig e o estudo de Normas Técnicas aplicadas no desenvolvimento de equipamentos assistivos. São apresentadas as etapas de desenvolvimento, ensaios com base em Normas Técnicas e teste de usabilidade. Busca-se evidenciar todo o processo de design de equipamento, assim como o estudo teórico de estabilidade e montagem do protótipo funcional. Os ensaios baseados na Norma Técnica ABNT NBR ISO 7176 permitem o entendimento do comportamento dinâmico e funcional do protótipo em termos de estabilidade estática, eficácia dos freios, consumo de energia, velocidade máxima, aceleração, desaceleração e capacidade de transposição de obstáculos. Por fim, discute-se a análise de resultados dos ensaios junto aos resultados teóricos calculados e pré-requisitos estabelecidos. / The thesis consists in the conception of a modular electric motor vehicle that can be attached in any model of standard wheelchair. It is an electro-mechanical equipment, available as an accessory, with a simplified physical structure and high applied electronic technology capable of giving the wheelchair greater freedom of movement without physical wear and tear. The union between inclusive design and the medical field can be an important step in obtaining products aimed at the real needs of people with particular physical and psychological conditions, improving their well-being and ability to do their daily activities. In this way, the thesis is guided by the fundamentals of inclusive design with the main focal point in the user, by the way presents two other important pillars adopted in its development methodology, being the benchmarkig and the study of Technical Standards applied in the development of Assistive devices. The stages of development are presented, tests based on Technical Standards and usability testing. The aim of this work is to demonstrate the whole process of equipment design, as well as the theoretical study of stability and assembly of the functional prototype. The tests based on the Technical Standard ABNT NBR ISO 7176 allow the understanding of the dynamic and functional behavior of the prototype in terms of static stability, brake efficiency, power consumption, maximum speed, acceleration, deceleration and obstacle transposition capacity. Finally, we discuss the analysis of the results of the tests together with the calculated theoretical results and established prerequisites.