次世代車椅子のための支援ロボティクス：マルチモーダルナビゲーションと生体モニタリング

原文アブストラクト

Assistive electric-powered wheelchairs (EPWs) have become essential mobility aids for people with disabilities such as amyotrophic lateral sclerosis (ALS), post-stroke hemiplegia, and dementia-related mobility impairment. This work presents a novel multi-modal EPW control system designed to prioritize patient needs while allowing seamless switching between control modes. Four complementary interfaces, namely joystick, speech, hand gesture, and electrooculography (EOG), are integrated with a continuous vital sign monitoring framework measuring heart rate variability, oxygen saturation (SpO2), and skin temperature. This combination enables greater patient independence while allowing caregivers to maintain real-time supervision and early intervention capability. Two-point calibration of the biophysical sensors against clinical reference devices resulted in root mean square errors of at most 2 bpm for heart rate, 0.5 degree Celsius for skin temperature, and 1 percent for SpO2. Experimental evaluation involved twenty participants with mobility impairments executing a total of 500 indoor navigation commands. The achieved command recognition accuracies were 99 percent for joystick control, 97 percent plus or minus 2 percent for speech, and 95 percent plus or minus 3 percent for hand gesture, with an average closed-loop latency of 20 plus or minus 0.5 milliseconds. Caregivers receive real-time alerts through an Android application following encrypted cloud transmission of physiological data. By integrating multi-modal mobility control with cloud-enabled health monitoring and reporting latency and energy budgets, the proposed prototype addresses key challenges in assistive robotics, contributes toward compliance with ISO 7176-31 and IEC 80601-2-78 safety standards, and establishes a foundation for future adaptive machine learning enhancements.