Sensors 2012, 12(3), 3049-3067; doi:10.3390/s120303049
Article

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

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Received: 7 February 2012; in revised form: 24 February 2012 / Accepted: 27 February 2012 / Published: 6 March 2012
(This article belongs to the Special Issue Control Systems and Robotics in Bioengineering)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: 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.
Keywords: inertial sensors; human-computer interface; cerebral palsy; Kalman filter
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MDPI and ACS Style

Raya, R.; Rocon, E.; Gallego, J.A.; Ceres, R.; Pons, J.L. A Robust Kalman Algorithm to Facilitate Human-Computer Interaction for People with Cerebral Palsy, Using a New Interface Based on Inertial Sensors. Sensors 2012, 12, 3049-3067.

AMA Style

Raya R, Rocon E, Gallego JA, Ceres R, Pons JL. A Robust Kalman Algorithm to Facilitate Human-Computer Interaction for People with Cerebral Palsy, Using a New Interface Based on Inertial Sensors. Sensors. 2012; 12(3):3049-3067.

Chicago/Turabian Style

Raya, Rafael; Rocon, Eduardo; Gallego, Juan A.; Ceres, Ramón; Pons, Jose L. 2012. "A Robust Kalman Algorithm to Facilitate Human-Computer Interaction for People with Cerebral Palsy, Using a New Interface Based on Inertial Sensors." Sensors 12, no. 3: 3049-3067.

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