NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

1. NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users Roberto Casas, Marcos Quílez, Borja Romero, Oscar Casas Technical School of Castelldefels (EPSC) Technical University of Catalonia (UPC) Castelldefels (Barcelona), Spain

2. Introduction • Computers help people with disabilities to improve their quality of life and increase independence • Accessing Interfaces: • Voice • Vision technology (video, IR-tracking) • Physiological sensors (EEG, EMG) • Inertial sensors (accelerometers, inclinometers, gyroscopes) • Joystick NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

3. Main Objective Increase people’s autonomy combining mobility and ubiquitous control of computers • Target audience: • people able to control a wheelchair using whichever kind of joystick • people with difficulties using standard interfaces to control computers NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

4. Technical Objectives • Movement of the pointer controlled with the wheelchair-joystick (with independence of its type and position) • Handling of the wheelchair should not be affected • Physical joystick manipulation is not acceptable (wheelchair's guaranty) NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

5. Technical Objectives • Connection among system and computer should be transparent (minimum configuration required) and wireless • Minimum custom software and maximum devices’ compatibility • Reduced power consumption • Cost-effective NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

6. Design Issues • Interface: • movement • actions • Sensing: • calibration • processing • Communication & software NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

7. Interface • Movement • controlled with the same wheelchair's driving-joystick without modifying it accelerometer • Actions • right, left and middle click, double left click and pointer drag & drop • Connect switches and jack connectors NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

8. Calibration • User is static when using NIBLUM • The joystick may not be parallel to earth: • parked in a slope • chin joystick offset calibrated at startup NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

9. Processing • Filter sudden accelerations, decelerations and changes in direction tradeoff between response time and filtering NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

10. Processing SUDDEN LIBERATION ROUGH MOVEMENT NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

11. Control modes • Basic • Movement in eight directions • Constant speed above a threshold • Priority in eliminating rebounds • Advanced • Movement in all directions • Speed proportional to inclination • Priority reducing response time NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

12. Communication & Software • Not requiring cable plugging  Wireless • Automatic setup • Interoperability with computers and operating systems • No custom software Bluetooth – HID profile NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

13. Implementation NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

14. Evaluation - conclusions • Toggling the joystick function (wheelchair / pointer) was done without any assistance • Dedicated buttons to perform double click and drag&drop were appreciated • Advanced and basic modes • Bluetooth HID profile NIBLUM fulfills the technical objectives and can be used to enlarge people’s autonomy NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users

15. NIBLUM. Non-invasive Bluetooth Mouse for Wheelchair Users Roberto Casas, Marcos Quílez, Borja Romero, Oscar Casas Technical School of Castelldefels (EPSC) Technical University of Catalonia (UPC) Castelldefels (Barcelona), Spain