BACKGROUND The complex task of Electric Powered Wheelchairs (EPW) prescription relies mainly on personal experience and subjective observations despite standardized processes and protocols. The most informative measurements come from joystick monitoring, but recording direct joystick outputs require to disassemble the joystick. We propose a new solution called "SenseJoy" that is easy to plug on a joystick and is suitable to characterize the driver behavior by estimating the joystick command. METHODS SenseJoy is a pluggable system embedded on EPW built with a 3D accelerometer and a 2D gyrometer placed within the joystick and another 3D accelerometer located at the basis of the joystick. Data is sampled at 39 Hz and processed offline. First, SenseJoy sensitivity is assessed on wheelchair driving tasks performed by a group of 8 drivers (31 ± 8 years old, including one driver with left hemiplegia, one with cerebral palsy) in a lab environment. Direct joystick measurements are compared with SenseJoy estimations in different driving exercises. A second group of 5 drivers is recorded in the ecological context of a rehabilitation center (41 ± 10 years old, with two tetraplegic drivers, one tetraplegic driver with cognitive disorder, one driver post-stroke, one driver with right hemiplegia). The measurements from all groups of drivers are evaluated with an unsupervised statistical analysis, to estimate driving profile clusters. RESULTS The SenseJoy is able to measure the EPW joystick inclination angles with a resolution of 1.31% and 1.23% in backward/forward and left/right directions respectively. A statistical validation ensures that the classical joystick-based indicators are equivalent when acquired with the SenseJoy or with a direct joystick output connection. Using an unsupervised methodology, based on a similarity matrix between subjects, it is possible to characterize the driver profile from real data. CONCLUSION SenseJoy is a pluggable system for assessing the joystick controls during EPW driving tasks. This system can be plugged on any EPW equipped with a joystick control interface. We demonstrate that it correctly estimates the performance indicators and it is able to characterize driving profile. The system is suitable and efficient to assist therapists in their recommendation, by providing objective measures with a fast installation process.

中文翻译：

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SenseJoy，一种可插拔的解决方案，用于评估电动轮椅驾驶任务期间的用户行为。

背景技术尽管标准化的过程和协议，但是电动轮椅（EPW）处方的复杂任务主要依赖于个人经验和主观观察。最有用的测量值来自操纵杆监视，但是记录直接的操纵杆输出需要拆卸操纵杆。我们提出了一种名为“ SenseJoy”的新解决方案，该解决方案易于插入操纵杆，并且适合通过估计操纵杆命令来表征驾驶员的行为。方法SenseJoy是嵌入在EPW上的可插拔系统，该系统具有3D加速度计和放置在操纵杆内的2D陀螺仪，以及位于操纵杆基础上的另一个3D加速度计。数据以39 Hz采样并离线处理。第一的，在实验室环境中，由一组8位驾驶员（31±8岁，包括一名左偏瘫，一名脑瘫）执行的轮椅驾驶任务评估SenseJoy敏感性。在不同的驾驶练习中，将直接操纵杆测量值与SenseJoy估计值进行比较。在康复中心的生态环境中记录了第二组5位驾驶员（41±10岁，有两名四肢瘫痪驾驶员，一名患有认知障碍的四肢瘫痪驾驶员，一名中风后驾驶员，一名右偏瘫驾驶员）。使用无监督的统计分析评估来自所有驾驶员组的测量结果，以估算驾驶员档案。结果SenseJoy能够以1.31％和1.的分辨率测量EPW游戏杆的倾斜角度。分别在向后/向前和向左/向右的方向上占23％。统计验证可确保通过SenseJoy或直接通过操纵杆输出连接获取经典的基于操纵杆的指示器是等效的。使用无监督的方法，基于受试者之间的相似度矩阵，可以根据真实数据来表征驾驶员档案。结论SenseJoy是一种可插拔系统，用于在EPW驾驶任务期间评估操纵杆控制。该系统可以插入任何配有操纵杆控制接口的EPW上。我们证明它可以正确估计性能指标，并且能够表征驾驶状况。该系统通过快速安装过程提供客观的措施，适合并高效地协助治疗师的建议。统计验证可确保通过SenseJoy或直接通过操纵杆输出连接获取经典的基于操纵杆的指示器是等效的。使用无监督的方法，基于受试者之间的相似度矩阵，可以根据真实数据来表征驾驶员档案。结论SenseJoy是一种可插拔系统，用于在EPW驾驶任务期间评估操纵杆控制。该系统可以插入任何配有操纵杆控制接口的EPW上。我们证明它可以正确估计性能指标，并且能够表征驾驶状况。该系统通过快速安装过程提供客观的措施，适合并高效地协助治疗师的建议。统计验证可确保通过SenseJoy或直接通过操纵杆输出连接获取经典的基于操纵杆的指示器是等效的。使用无监督的方法，基于受试者之间的相似度矩阵，可以根据真实数据来表征驾驶员档案。结论SenseJoy是一种可插拔系统，用于在EPW驾驶任务期间评估操纵杆控制。该系统可以插入任何配有操纵杆控制接口的EPW上。我们证明它可以正确估计性能指标，并且能够表征驾驶状况。该系统通过快速安装过程提供客观的措施，适合并高效地协助治疗师的建议。