Adaptive Algorithm of the Wheelchair-Verticalizer User Interface System

Purpose of reseach. Development of a scheme and adaptive algorithm for the operation of an intelligent humanmachine system for the user interface of a wheelchair-verticalizer, taking into account the physiological characteristics of the operator, the wheeled platform and the external environment.Tasks. The study of the physiological characteristics of human-machine interaction in people with damage to the musculoskeletal system. Design development and mathematical description of the joystick as a component of a human-machine system. Development of adaptive algorithm and software for the wheelchair user interface system. Methods. Using the method of finite-state machine to describe the algorithm of motion modes switches. The use of polynomial functions in order to obtain smooth laws for changing the setpoints for the device drives. The use of nonlinear sensitivity coefficients of the joystick handle to provide adaptive modes of movement of the wheelchairverticalizer. Results. In the course of the study, the modes of movement of a wheelchair-verticalizer were developed and described. The design scheme and principle of operation of the joystick are presented and described. The modes of operation of the human-machine system was described mathematically and graphically. The adaptive algorithm of the user interface system of a wheelchair-verticalizer proposed in the paper interpret joystick inclinations into setpoints signals for wheelchair drive controllers. The use of non-linear sensitivity coefficients of the joystick handle to provide adaptive modes of operation of the wheelchair, taking into account the features of the hands movement of people with impaired functions of the musculoskeletal system, the movement of the wheelchair and the state of environment, is described.Conclusion. The adaptive algorithms of the human-machine system and the modes of movement of the upright wheelchair developed within the framework of the work make it possible to increase the safety and smoothness of movement through the use of non-linear sensitivity coefficients of the joystick handle and smooth laws of setting influences obtained on the basis of polynomial functions.