UVM Theses and Dissertations
Unlike a conventional wheelchair joystick, the SPOOCI sensors can be placed in any location, ensuring that areas where the user has the best motor control are being used to drive the wheelchair. Discussed within this thesis is the sequence of engineering design steps used to successfully develop and build a working SPOOCI prototype; as well as an in-depth look at the various subsystems and components within the prototype and rationale for their selection. Also discussed is the overall system behavior, in terms of how the control signal is processed as it passes through the system, and the overall dynamics between user input and wheelchair motor output. Furthermore, this thesis presents a data logging system that was constructed and used to track the rotation history ofeach drive wheel, and the derivation of equations used to translate the data from the logging system into a plot of the driven path ofthe wheelchair. This thesis proposes that the data from the path tracking system, through a correlation of speed and accuracy, can be used to gauge the effectiveness of the SPOOCI system relative to conventional means or control.