SafePath™
GeckoSystems has successfully migrated some of its mobile robot solutions to power wheelchairs to create SafePath collision free navigation. SafePath is sensor fusion under AI control, the only truly autonomous and commercially viable navigation solution in the market. The company hopes that the SafePath wheelchair will be the first use of this software in the retail market.
According to 2010 United States Census figures there are 3.3 million wheelchair users age 15 or over. Power assisted wheelchairs give the disabled the greatest possible freedom of movement, but 40% find it almost impossible to steer using controls now on the market. Visual and cognitive issues also prevent some disabled persons from using power wheelchairs. A wheelchair with GeckoSystems' SafePath artificial intelligence (AI) software technologies will give these people safety, mobility and access that was previously denied.
Further below is a technical discussion of wheelchair software and hardware architecture for those interested in how our proprietary software enables the SafePath Wheelchair.
Migration to a Standard Power Wheelchair
See a Fully Functional Prototype of the SafePath Wheelchair in Action
First you will see the wheelchair user safely navigating cluttered aisles and avoiding collisions with other shoppers in a grocery store environment. The Microsoft's Kinect technology reports distances to obstacles at up to 10-12 feet.
Additional videos show the upgraded wheelchair in a mall environment, demonstrating SafePath capabilities both with and without an operator. Notice that the chair does not simply bounce away from an obstacle in an arbitrary manner, it resumes the course designated by the operator once the obstacle is avoided. The chair responds to the commands of the user but when GeckoNav becomes aware of an obstacle, that AI engine directs the chair away from the obstacle, and resumes seeking its previous destination.
Finally, there are several videos showing an unmanned chair in both environments. With no direction at all the AI enabled chair seeks and finds a clear, safe path. The maximum speed of a chair guided by GeckoNav is adjusted to that of a brisk walking speed. In a loose crowd situation where there are multiple obstacles the chair automatically slows depending on the proximity of the obstacles, calculates the safest path and speed while proceeding.
It is the integration of this proprietary software under GeckoSuper that makes GeckoSystems' navigational system superior to competitors' systems. The company anticipates that these recent advances will open a wide range of new business oppotunities for the company.
Hardware and Software Architecture
GeckoSuper™
GeckoSuper (originally developed for the CareBot™) interfaces with and coordinates the individual AI behavior software components called GeckoSavants that are used in this application. They are listed below:
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GeckoSteer™
GeckoSteer is a new mobile robot solution developed to address issues unique to the SafePath wheelchair. Current technologies typically use hardware fixed adjustments to compensate for spasticity, tremor, and other involuntary movements caused by diseases such as cystic fibrosis, Parkinson's disease, and multiple sclerosis. Unfortunately, these fixed adjustments also restrict the operator's freedom of movement. GeckoSteer not only filters out these irregular movements, it also interprets desired direction and speed signals from the joystick, passing them appropriately to GeckoSuper.
GeckoNav™
GeckoNav is automatic, self navigation AI software that enables the wheelchair to be directed to the user's desired destination destination while avoiding potential obstructions reported by GeckoImager to GeckoNav.
GeckoMotorController™
GeckoMotorController manages wheel speeds based on commands from GeckoNav. Individual wheel speeds are controlled to enable steering, maintain straight line runs, and go faster or slower depending on obstacles to be avoided per GeckoNav commands. GeckoMotorController also prevents lurching on starts and stops and enables turns to be bicycle smooth in their execution.
GeckoImager™
GeckoImager provides GeckoNav AI with sufficient and timely vision depth data from Microsoft Kinects to create actionable situation awareness while providing a very safe, loose crowd level of autonomy that provides collison free operation of the now obstacle aware wheelchair.
CyberMobile™ Wheelchair Concept
Mobility for the 21st Century
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Ultrasonic rangefinders
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Depth camera range finders
Multiple range finders are used by GeckoNav since no single range finder is sufficient. IR rangefinders fill in pockets and blind spots of the depth cameras. Ultrasonic rangefinders sense greater distances than the depth cameras and IR rangefinders for safer high speeds. -
Voice and music reproduction speakers
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Verbal interaction (voice recognition) microphones
Verbal interaction can be used for voice recognition command and control of the chair's movements. Speakers can be used for voice synthesis, playing music, or as a speakerphone. GeckoChat gives the user access to numerous other voice controlled utilities. -
Contact detecting wheelchair covering
No low cost sensor detects objects that are only an inch or two away. Bump detection sensors on the lower chair covering responds to contact and immediately notifies GeckoMotorController to stop all locomotion. This also enables the chair to literally feel its way through extremely narrow passages with incremental, slow movements. -
Vital sign monitoring
Pulse, body temperature, blood pressure, oxygenation level, glucose level, and more. Vital sign monitors can be custom programmed to trigger an alarm locally or remotely if dangerous levels are crossed. -
Passive infrared proximity detectors
Passive infrared detectors give accurate proximity data. The fusion of sensor data done on multiple levels creates actionable situational awareness. -
Curb climbing capable drive wheels
Wheel speed is smooth and graceful with no abrupt starts or stops due to GeckoMotorController and its "constant energy" paradigm.