# SWADAPT1: Evaluation on standardised circuits of the interest of a robotic module for assisting the driver of an electric wheelchair: pilot, prospective, controlled, randomised study

Emilie Leblong, Bastien Fraudet, Louise Devigne, Marie Babel, François Pasteau, Nicolas Benoit, Philippe Gallien

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Emilie Leblong, Bastien Fraudet, Louise Devigne, Marie Babel, François Pasteau, et al. SWADAPT1: Evaluation on standardised circuits of the interest of a robotic module for assisting the driver of an electric wheelchair: pilot, prospective, controlled, randomised study. ISPRM 2020 - 14th World Congress of the Society of Physical & Rehabilitation Medicine, Mar 2020, Orlando, United States. hal-02735967

HAL Id: hal-02735967

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Submitted on 5 Feb 2021

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# SWADAPT1 : EVALUATION ON STANDARDISED CIRCUITS OF THE INTEREST OF A ROBOTIC MODULE FOR ASSISTING THE DRIVER OF AN ELECTRIC WHEELCHAIR: PILOT, PROSPECTIVE, CONTROLLED, RANDOMISED STUDY

Emilie Leblong* (1), Bastien Fraudet (1,2), Louise Devigne (3), Marie Babel (3), François Pasteau (3), Benoit Nicolas (1), Philippe Gallien (1)

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* Most people with disabilities require assistance and often use a technical mobility aid.

* Prevalence of people using wheelchairs = increase with an estimate ranging from 60 to 200 per 10,000 inhabitants (Vignier 2008).

* 10% of wheelchair users use electric models (Kaye 2002; Vignier 2008)

* 25% of accidents with Power Wheelchair (PWC) (Kirby 1995).

* 100 000 accidents involving wheelchair users in the United States in 2006,

* 54.7% of subjects reported having had at least 1 accident in the last 3 years (Chen 2011).

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a prototype anti-collision system
based on Infra Red technology and algorithms for a low cost solution

## OBJECTIVES

### Comparison of driving performances

Number of collisions

Time to completion

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### Reduce the number of collisions

### Increase driving safety

## MATERIALS AND METHODS

### PROSPECTIVE

### MONOCENTRIC

### CONTROLLED

### RANDOMIZED

### SINGLE-BLIND

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### Conditions
3 circuits of increasing complexity (C1, C2, C3).

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population

23 patients with neurological disabilities who usually use PWC

Example of circuit 3 : map, 3D representation and picture

## RESULTS

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## DISCUSSION - CONCLUSION

* Statistically significant reduction in the number of collisions on the most complex circuit (13 versus 46)

* Significant slowdown due to the activation of the driver assistance module but a real increase of safety.

* → Efficiency of the PWC driver assistance module in terms of safety without reducing travel speed in a population of people with disabilities who are usual wheelchair drivers.

Future trials : tests on the target population in failure or driving difficulties

### Bibliography

DEVIGNE L, NARAYANAN V, PASTEAU F, et al. Low complex sensor-based shared control for power wheelchair navigation. In : Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016. p. 5434-5439.

DEVIGNE L, PASTEAU F, LE BORGNE N, BABEL M, CARLSON T, GALLIEN P. Assisting power wheelchair driving on a sidewalk: A proof of concept. Modelling, Measurement and Control C, 79(4):185-189, RAGOT N, CARON G et al. Coalas: A eu multidisciplinary research project for assistive robotics neuro-rehabilitation. In : IEEE/RSJ IROS Workshop on Rehabilitation and Assistive Robotics: Bridging the Gap Between Clinicians and Roboticists, Chicago, USA. 2014.

<footnote n="1">1) Pôle Saint-Hélier (Rennes)</footnote>

<footnote n="2">2) Living Lab ISAR, 54 rue St Hélier, 35043 Rennes Cedex</footnote>

<footnote n="3">3) INSA Rennes, Inria, Irisa-UMR6074, France.</footnote>