3 Levels of Interaction

•Basic User Tasks•Intermediate User

Tasks•Advanced User Tasks

Basic User Tasks - Patient How to Use the GUI How to Start Up the Chair How to Shut Down the Chair How to Recharge the Chair How to Move the Chair By Pushing How to Re-enable the Motors After E-Stop

Definition

GUI = Graphical User Interface

GUI The touch screen interface on the chair Will be able to

support other devices at later date

Start Up, Shut Down, Recharge Begin from the back of the chair

Begin from the screen

Begin by unplugging

Move By Pushing Just in case something goes wrong Motors disengaged Lever in back Patient may need to be able to tell

someone how

 Re-enable the Motors After Emergency Stop

Two emergency stop buttons Immediately apply brakes and disable motors

Push the rectangular red button to get the motors back

Once for joystick Twice to return to normal

 Intermediate User Tasks -Doctor/Therapist

How to Use X-Windows How to Connect to the Wheelchair from a PC How to Open MobileEyes How to Localize the Robot How to Drive the Robot From MobileEyes How to Change Maps in MobileEyes How to Enable/Disable Goals on the Chair’s

Interface

What is X-Windows? A way to display the touch screen graphics

on a remote computer

Connect With X-Windows Useful to be able to control the chair

remotely as if in chair Ex: For choosing goals

What is MobileEyes? The main way to handle the chair remotely The place to make maps, change goals,

and change parameters

Connect Remotely to the Wheelchair And Open MobileEyes

Connecting remotely Change your IP address Connect to the network

Opening MobileEyes Username and password unnecessary Set the Robot Server

Localization

Like using a map and compass – once you’ve found where you are and what direction you’re facing, you’re not lost

Localize the Robot andUse MobileEyes for Driving

Localizing Drag robot to correct spot on map and check localization

score Repeat as necessary

Buttons on top menu bar for Manual and Safe Drive

Goal list at bottom left

Change Maps in MobileEyes and Enable/Disable Goals On the Chair's Interface

Need to open both Map and LaserLocalizationMap to change maps

To enable/disable goals Go to Look & Feel, then

Goal List on wheelchair (Or X-Windows)

Choose goals from list

 Chair Guru Tasks - Administrator/Developer

How to Create a New Map How to Create a New Goal on the Map How to Change Parameters

Create a New Map andCreate New Goals on the Map

Drive the chair around so the upper sensor can create the map

With MobileEyes open Split slides here

Edit Map andCreate New Goals

Clean up the new map Using tools in Mapper3

Add new goals in Mapper3 Save map to Chair

Change Parameters in MobileEyes

Got to Tools, then RobotConfig Parameters allow you to change things like

the speed of the chair and the size of the padding