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Shadi A.K Shirazi Jamie Westell Arash Jamalian

This document describes a wheelchair stability and pressure relief system. It provides an overview of the system, including its implementation and results. The system uses motors to move the upper body of the user left and right to provide both pressure relief and increased wheelchair stability. It has different operating modes that are prioritized, including pressure relief, stability control and joystick control. The system was built using an AVR microcontroller, motor controller, sensors and other components. Testing showed it was able to achieve the goals of pressure relief and increased stability. Future work may include customization options and additional safety features.

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Alankrit Patnaik
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72 views47 pages

Shadi A.K Shirazi Jamie Westell Arash Jamalian

This document describes a wheelchair stability and pressure relief system. It provides an overview of the system, including its implementation and results. The system uses motors to move the upper body of the user left and right to provide both pressure relief and increased wheelchair stability. It has different operating modes that are prioritized, including pressure relief, stability control and joystick control. The system was built using an AVR microcontroller, motor controller, sensors and other components. Testing showed it was able to achieve the goals of pressure relief and increased stability. Future work may include customization options and additional safety features.

Uploaded by

Alankrit Patnaik
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 47

Shadi A.

K Shirazi
Jamie Westell
Arash Jamalian
 Background
 Motivation
 System Overview
 Implementation
 Results
 Future Develpoment
 Business Case
 Finances
 Final thoughts
Bone
 What is pressure sore?
Subcutaneous
-Also called decubiti, decubitus Soft Tissue
ulcer and bedsores. Skin Layer
Stage 1
 What causes pressure sores
after spinal cord injury?
Stage 2

o Decrease in blood circulation


o Lower tolerance for pressure Stage 3

o lack of sensation
Stage 4

Images c/o www.spinal-injury.net


Ian Denison, Physiotherapist
G.F. Strong Rehabilitaion Centre
Shoulder
Blade
 Pressure Relief System
o The fast development of body sores
o Side effects of sudden blood flow Tail
Back of
Bone
Knee
 Wheelchair Tipping Stability
o Sudden Muscle Spasm
Foot
o Navigating Over Sidewalk Curbs
Sitting
o Meeting an Immovable Obstacle Bone
o Reaching awkwardly for something

In 2003,65-80% of 100000 wheelchair related injuries in


US were due to tips and fall

Image c/o www.spinal-injury.net


 Solution
◦ A system which moves the upper body of the user
left and right in a controlled manner.

 Goals
1.Provide Pressure Relief to User
2.Increase Stability of Wheelchair
3.Provide Manual Control to the User
Modes of Operation

Pressure Wheelchair Joystick


Relief Stability Control
AVR Butterfly Microcontroller
Motor Controller

BACK
AVR Butterfly Microcontroller

Motor Controller

BACK
AVR
Butterfly

Motor Controller

BACK
 User Interface
◦ Mode Switches
◦ Emergency Stop
◦ Power LED

 Switching Between Modes


◦ Priorities
1. Emergency Stop
2. Joystick
3. Wheelchair Stability
4. Pressure Relief
 Lateral supports
◦ Current limitation: vertical side bar
◦ Placed on the rails
◦ Chosen to fit the sides of each individual
◦ Better Force Transfer
◦ Aesthetically pleasing
 Customizing
◦ Adjustable pressure relief timing
◦ Manual speed control
 Acceleration control
◦ Centripetal acceleration
◦ Acceleration dependant motor control
 Safety improvements
◦ Pressure sensors on the harness/lateral
◦ Muscle Spasm detection
 User interface
◦ Sip-n-puff (ideal for quadriplegic people)
 Mechanical structure
◦ Appropriate casing
Component Price
AVR Microcontroller 3 38.85
Rack and Pinion/DC Motor 303.62
H Bridge 160.15
Inclinometer 65.91
Linear Encoder 257.41
12V-Battery 50.40
Circuit Components 50.78
Hardware 55.65
(Cases/Pulleys/Glue/etc)
Chest harness 44.1
Rope (Aluminum rope/Kite rope) 38
Total Product Cost $1064.87
 Additional Cost = 598.54
◦ Unused parts
◦ Tools and Equipment
◦ Restocking Fee
◦ Long distance calls and Travel
Proposed Budget $1,603
Actual Budget $1,663.41

Funding:
Engineering Science Student Endowment Fund: $890
Whighton Fund: $900

 Funding -Actual Budget =126.59


 Other uses for system
◦ Manual posture adjustments
◦ Correcting bent spine for eating/breathing

 Incentive for insurance companies


◦ Enhanced safety on sidewalks, trails

 Incentive for physiotherapists


◦ Optimizing the pressure relief to fit individual needs
 Alternative products:
◦ Pressure Relief System:
 Pressure Reduction Cushion

 Tipping Stability System:


◦ Tilt Recliner
 Manual. Not for Quadriplegic injuries
 Can not be used throughout the day
◦ Pneumatic actuators to move the seat
 Very expensive
 Requires a lot of power
January February March April

Task Name 6 | 13 | 20 | 27 | 3 | 10 |17 |24 | 2 | 9 | 16 | 23 | 30 |

Research
Proposal
Functional Specification
Design Specification
Assembly of Modules
Integration
Documentation/website
Post Mortem

Proposed Timeline
Actual Timeline
 Successful Team
◦ Excellent Project Management
◦ Excellent Communication
◦ High Interest/Enthusiasm
◦ Appropriate /Reliable Information Sources
◦ Sufficient Technical Knowledge
◦ Hard Work

 What we learned
◦ Technical details of each component
◦ Integration
◦ Implementation of our knowledge obtained from
the past 5 years of education
Ian Denison, Physiotherapist
G.F. Strong Rehabilitaion Centre
 GF Strong Rehabilitation Centre
◦ Ian Denison (Physiotherapist and Equipment Evaluator)
◦ Walt Lawrence (Spine Peer Mentor)
◦ Doug Gayton ( Assistive Technology Practitioner)
 Patrick Leung
 Steve Whitmore
 Andrew Rawicz
 Shahram Payandeh
 Carlo Menon
 Brad Oldham
 Jason Lee
 ESSEF
Questions?
 PI Controller
 12V DC Motor
◦ Output Linear Force
◦ Pressure Relief Operating Parameters
◦ Stability Operating Parameters
◦ Stability Sample Calculations
 AVR Butterfly
 Inclinometer
 String Potentiometer
 H Bridge
 Power
 Challenges
◦ Integral Wind Up
◦ Proportionality Constants for WSM
◦ A/D Converter
◦ Signal Filtering
(Images and Data c/o amequipment.com)
 Recommended current rating from the supplier: 15 Amps
 Radius of the pinion = 0.45 inches = 0.01143 m
 Output torque at 15 Amps: 5.7 Nm
 Linear output force required (neglecting internal resistance):

 Maximum speed of the rack with no load is 11cm/sec (91.9


RPM)
 Internal torque 0.5 Nm
Desired Speed = 1 cm/sec

Maximum linear force required : 100 lbs= 444.82 N

Required operating current 13 Amps


 The maximum current available for the motor 20 Amps (H-Bridge limitation)
 Output torque at 10 Amps : 7.8 Nm
 Maximum speed at 7.8 Nm : 40 RPM

 The maximum output force:

 limit on the controllable tipping accelerations depending on the weight of the user
 Maximum Speed of the motor at 5 Amps : 85 RPM
 Maximum Speed of the rack
 Atmel AVR Microcontroller
◦ Very Cheap (~$30)
◦ Helpful Sample Code
◦ RS-232 connection for data
◦ Many peculiarities
 Multiple use pins
 Different versions
 Startup Pin Levels

(Images and Data c/o atmel.com)


 VTI Technologies SCA-61T
◦ Single Axis
◦ Analog Output

(Images and Data c/o vti.fi)


 Celesco SP1-25
◦ Absolute Encoder
◦ Max. Extension 25in. (62.5 cm)
◦ Analog Ratiometric Output
◦ 0 to 5V Output

 Application
◦ Only used 12cm of extension
◦ Output range 0 to 1V
◦ ADC 1.1V internal reference

(Images and Data c/o celesco.com)


 Devantech MD03 H Bridge (50V, 20A)
Features:
o Built in charge pump
o Supplying up to 20A of Current to the motor
o Rapid motor current switching which allows PWM control
o Over Temperature protection
o Over current shut down
Supply Voltages
o 5v for the control logic
o 12V motor voltage
 35 Amp-Hour Sealed Lead-Acid Battery
◦ Used for prototype purposes
◦ Supplied by Brunette Battery

(Image and Data c/o batterymart.com)


 Response time
◦ With 62.5 ms: Response time 0.25sec (loaded)
◦ With 15.625 ms: Response time 0.15 sec
◦ At 15.625 ms resolution drops by factor of 4, not
enough memory to compensate for that
 Speed resolution
◦ Calculating speed by skipping 7 samples
◦ Increases accuracy in the calculation
◦ Better estimate of how fast the speed is changing
◦ Slower velocity control
Rise Time Overshoot Settling Time Steady State
Error
Kp Decrease Increase Small Decrease
Change
Ki Decrease Increase Increase Eliminate
Kd Small Decrease Decrease Small
Change Change
Wheelchair Stability & Pressure Relief System

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