A Robust Kalman Algorithm to Facilitate Human-Computer Interaction for People with Cerebral Palsy, Using a New Interface Based on Inertial Sensors

Sensors

Rafael Raya¹  Eduardo Rocon²  Juan A. Gallego²  Ramón Ceres² 

[1] Bioengineering Group, CSIC, Crta. Campo Real Km 0.2 La Poveda, Arganda del Rey, Madrid 28500, Spain;

关键词: inertial sensors;    human-computer interface;    cerebral palsy;    Kalman filter;   

DOI  :  10.3390/s120303049

来源: mdpi

【 摘 要 】

This work aims to create an advanced human-computer interface called ENLAZA for people with cerebral palsy (CP). Although there are computer-access solutions for disabled people in general, there are few evidences from motor disabled community (e.g., CP) using these alternative interfaces. The proposed interface is based on inertial sensors in order to characterize involuntary motion in terms of time, frequency and range of motion. This characterization is used to design a filtering technique that reduces the effect of involuntary motion on person-computer interaction. This paper presents a robust Kalman filter (RKF) design to facilitate fine motor control based on the previous characterization. The filter increases mouse pointer directivity and the target acquisition time is reduced by a factor of ten. The interface is validated with CP users who were unable to control the computer using other interfaces. The interface ENLAZA and the RKF enabled them to use the computer.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland