Force feedback joystick control of a powered wheelchair: preliminary study

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Abstract
An evaluation of a force feedback joystick for a powered wheelchair is performed. Our aim is to deter- mine if the force feedback joystick enhances the driving per - formance of persons with severe disabilities. A Microsoft R ° Sidewinder TM Force Feedback joystick 2 is used with a com- puter simulation system for the evaluation phase of the stud y. The factor used to determine the feedback force of the joy- stick is the displacement vectors of sixteen sensors to the nearest obstacles. The preliminary results on persons with - out disability show that there are fewer collisions when the force feedback algorithm is activated compared to their per - formance when the algorithm is not activated. All test sub- jects agreed that when the force feedback algorithm is ac- tivated, the wheelchair guidance is easier in corridor dis- placement. Moreover, some subjects found it easier for door crossing.

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