1. Department of Cybernetics, Czech Technical University Independent living through ICT Olga Stepankova, Petr Novak, Tomas Krajnik, Libor Preucil NIT GL Czech Technical University in Prague Czech Republic

2. Department of Cybernetics, Czech Technical University Department of Cybernetics Czech Technical University Prague, Czech Republic http://cyber.felk.cvut.cz/ EU Centre of Excellence “MIRACLE” Machine Intelligence Research and Application Centre for Learning Excellence

3. Department of Cybernetics, Czech Technical University Network of excellence 2005-9: coordinated by University of Tampere (Finland) Institutions from 11 countries: IT Universities hospitals Centres for Assistive Technology

4. Department of Cybernetics, Czech Technical University CONDITIONNUMBERS ALS / MND 27,000 Multiple Sclerosis135,000 Cerebral Palsy900,000 Spinal Cord Injury36,000 Spinal Muscular Atrophy54,000 Retts Syndrome29,970 Muscular Dystrophy126,000 Brainstem Stroke688,500 Traumatic Brain Injury675,000 TOTAL 2,671,470 Out of 450 million people in EU more than 2,5 mil.could benefit from gaze control. But only 2000 use it !

5. Department of Cybernetics, Czech Technical University  Develop effective means to communicate by eye gaze for people impaired by motor- control disorders  Offer assistive technology that is empowering and fun to use  Verify its advantages!  Consider it for environmental control CTU participation:  Test and develop further I4Control  Identify its user group.

6. Department of Cybernetics, Czech Technical University Cogain succeeded to prove that eye control is… Here – now! Reliable Well-supported Not just a necessity… …but also a choice offering the means to Communicate Control the computer Control the environment What about mobility?

7. Department of Cybernetics, Czech Technical University Gaze controlled wheelchair Challenges? How to ensure safety?! Gaze control requires stable illumination. What will happen if the user moves into a place with bad light conditions ? Human behaviour and subconcious reactions, e.g. What if the user suddenly looks towards the source a suspicious noise? is forced to close eyes due to irritation (dust, strong light, etc.)? Choice of interface: eyes-up X eyes-down

8. Department of Cybernetics, Czech Technical University  Neither solution is safe (e.g. eyes-up: precise positioning,..)  Can we build a smart wheelchair combining both solutions? Autonomous collision detection, learning,... This can be achieved by providing the chair with  Environment sensing system ( laser rangefinders, sonars,..)  Algorithms from mobile robotics domain (s elf-localization, autonomous motion planning,..) Eyes-down X Eyes-up interface

9. Department of Cybernetics, Czech Technical University System description Safe, comfortable gaze-controlled wheelchair Gaze often distracted Limited user concentration Direct control not comfortable nor safe Need to enforce autonomy Environment sensing system Algorithms of mobile robotics domain

10. Department of Cybernetics, Czech Technical University Wheelchair direct control 2 basic types of available control actions (to be chosen according user’s skills and constraints):  Direct control “direction of gaze = selected direction of movement” Fast (most often) Not safe enough (under extreme conditions)  Limit Mode (action has to be s elected and confirmed using UI) Movement and turning (1m, 2m, 10deg. 45deg, …) Only listed possibilities

11. Department of Cybernetics, Czech Technical University Wheelchair modes 2 modes of autonomous control  Indoor map Cursor is used to select the target location on the map Offer of pre-defined target locations (fast choice)  Outdoor map Picture from camera heading forward Surface selection (“this way”) Path suggestion & user confirmation Future work Customisation for individual user Planning in complex environment Warning the user about important sensory input as well as about actions to come,...

12. Department of Cybernetics, Czech Technical University COGAIN 2009 Petr Novák, Olga Štepánková NIT GL Home and environment control

13. Department of Cybernetics, Czech Technical University Control system structure 1.3 types of various input devices (simple buttons, directions specified by gaze, absolute position) 2.Stand-alone application with UI running on home PC 3.Special output devices (IR TV controller, …) or smart home devices equipped by any type connection (door system, …) 1 - Input devices 2 – User interface & Control system 3 - Controlled devices

14. Department of Cybernetics, Czech Technical University Other possibilities Examples of controlled appliances:  Windows (open / close) – using special actuators  Light or lamp (On / off ) – e.g. using wireless system  Send / receive SMS by cell-phone – BlueTooth connection between cell-phone and PC Useful solution for mobile users who can wirelessly communicate with the home PC using any input device accessible from the wheelchair. Person on wheelchair with input device Wireless connection to PC (BloeTooth, ZigBee) Computer application

15. Department of Cybernetics, Czech Technical University Conclusions COGAIN’s experience with user trials proved: If given a choice, a significant proportion of potential users would use eye control for at least some of the time… Much more people could benefit from the current technology if we set the goal to provide affordable solutions! This can be achieved rather soon if we join forces in an interdisciplinary research including AI, robotics, psychology,... and the users!