From: Design and validation of an intelligent wheelchair towards a clinically-functional outcome
RWST operation ID | Powered WC skills | Performance (%) | Safety (%) | ||
---|---|---|---|---|---|
 |  | Vocal interface | Standard joystick | Vocal interface | Standard joystick |
1 | Rolls forward 10m | 100 | 100 | 100 | 100 |
2 | Rolls backward 5m | 87.5 | 100 | 87.5 | 100 |
3 | Turns left/right in forward propulsion (n = 7) | 85.7 | 100 | 100 | 100 |
4 | Turns left/right in backward propulsion | 83.3 | 100 | 100 | 100 |
Joystick (n = 7); Vocal (n = 6) | |||||
5 | Turns left/right 180 degrees | 83.3 | 100 | 83.3 | 100 |
Vocal (n = 6) | |||||
6 | Lateral maneuvres (parking) | 100 | 100 | 100 | 100 |
7 | Gets through hinged door | 100 | 100 | 100 | 100 |
8 | Rolls 100 meters in hallway | 100 | 100 | 100 | 100 |
Vocal (n = 7) | |||||
9 | Avoids mobile obstacles | 100 | 100 | 100 | 100 |
Vocal (n = 7) | |||||
10 | Ascends 5-degree right incline | 100 | 100 | 100 | 100 |
11 | Descends 5-degree right incline | 100 | 100 | 100 | 100 |
12 | Ascends 10-degree right incline | 100 | 100 | 100 | 100 |
13 | Descends 10-degree right incline | 100 | 100 | 100 | 100 |
14 | Rolls on laterally inclined incline | 100 | 100 | 100 | 100 |
Vocal (n = 7) | |||||
15 | Rolls 2 meters on gravel | 100 | 100 | 100 | 100 |
Average | All 15 tasks | 96.0 | 100 | 98.1 | 100 |