M3S-Based Electrical Wheelchair with Head-Controlled Device
Date Issued
2004
Date
2004
Author(s)
Chen, Show-Hong
DOI
zh-TW
Abstract
The focus of this research is to develop the assistant implements and M3S (multiple master multiple slave) control interface for the severely spinal cord injury (SCI) patients. In development of assistant implements, using TMS320F243 digital signal processor to design the head control device, and users can control the direction of the wheelchair via swing position of head. The interface of M3S bus is developed by TMS320F243 CAN module, and head control device confirms whether control signal has transmitted to M3S bus. On the other hand, output device can receive control signal from M3S bus via CAN module. CAN module transmits the acknowledgement signal to input device after successfully receiving, and prepares to receive the next control signal. Besides, setting up this module can also accomplish Plug and Play function. In safe monitor, obeying safe monitoring standard of M3S protocol to employ the KEY switch function of input device to start or stop the system’s power supply for critical condition. In design of the DMS function, power supply status is detected by power supply monitor circuit, then, to connect or disconnect the loop of the power supply. Furthermore, provide the highest security for SCI patients. Users can development of M3S-Based input and output devices will provide for CCM (control & configuration module) to identify the implemental identity, to work according to the priority, and to achieve the control system of multiple master multiple slave.
In clinical tests, choosing eight SCI patients to operate the M3S-Based electrical wheelchair, and dividing two groups to discuss the results. The results show that system is based on M3S protocol that not only provides real-time message transmission, but increases safe monitoring. Besides, operating time is according to the practiced operation. If users practice repeatedly before operating, the system control will fit in with the use’s requirement.
Subjects
多主多從
電動輪椅
關鍵開關
脊髓損傷
控制區域網路
失能者開關
CAN
Electrical Wheelchair
DMS
SCI
KEY Switch
M3S
Type
thesis
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