Conventional power wheelchair models often prioritize basic navigation and comfort at the expense of user-centric solutions. This overlooks the opportunity for solutions that can address specific challenges and promote user empowerment towards a sustainable society. This article explores a cyber-physical social system (CPSS) approach for power wheelchairs; a CPSS that brings together diferent stakeholders to promote better understanding, customization, and assistance of wheelchairs. The aim is to enhance user experience and safety while contributing to sustainability in the sector. To achieve this, this approach comprehends the use of digital twin (DT) technology employing Petri net models. DT allows for the creation of a virtual replica of a power wheelchair (or part), enabling iterative design through real-time simulations and remote control. Petri nets specify the DT within the CPSS, facilitating formal analysis and automated implementation.
1. Introduction drive drive
seat
change left_mo r_stop raise_down stopG_:3NO2T( x = 0 AgNoD_Gd:yxw<n= 0) AND yg<o_G0f :rxw=a d0_A3N2D ys>toGp0_:6NOT( x = 0 AND y > 0 ) .
A
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S o c i a l
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P o w e r
W h e e l c h a i r s E a c h d i m e n s i o n i n a c y b e r p h y s i c a l s o c i a l a p p r o a c h c o n t r i b u t e s t o a u s e r c e n t r i c s o l u t i o n .
N o t a b l e i n t h i s a p p r o a c h , s t a k e h o l d e r s p l a c e d i n t h e s o c i a l d i m e n s i o n c a n r e l y o n t h e c y b e r d i m e n s i o n f o r s e r v i c e s t h a t c a n e n h a n c e t h e i r e x p e r i e n c e i n t h e p h y s i c a l d i m e n s i o n .
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F i g .
1 w i t h d e t a i l e d e x p l a n a t i o n s i n t h e f o l l o w i n g s u b s e c t i o n s . 1 .
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D i m e n s i o n :
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I n t e r a c t i o n s a n d
R e q u i r e m e n t s T h e s o c i a l d i m e n s i o n o f t h e
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F i g . 1 i n c l u d e s u s e r s a n d c a r e g i v e r s u s i n g p o w e r w h e e l c h a i r s t h e r a p i s t s i n v o l v e d i n r e h a b i l i t a t i o n , t e c h n i c i a n s r e s p o n s i b l e f o r s e l e c t i n g t e c h n o l o g y f o r p o w e r w h e e l c h a i r s a n d p r o v i d i n g t r a i n i n g a n d t e c h n i c a l s u p p o r t .
T h e f o c u s i s p r e c i s e l y o n c o l l a b o r a t i o n a m o n g t h e m ( i n s o c i a l d i m e n s i o n ) t o o p t i m i z e u s e r s ’ c a p a b i l i t i e s t h r o u g h s e a m l e s s o p e r a t i o n o f w h e e l c h a i r s a n d r e l a t e d s e r v i c e s u l t i m a t e l y p r o m o t i n g s u s t a i n a b i l i t y i n t h e c o n t e x t .
T h i s i n v o l v e s s e l e c t i n g f e a t u r e s a n d f u n c t i o n a l i t i e s t o e n h a n c e u s e r s a f e t y , a n d h a n d l i n g , w h i l e r e d u c i n g m a i n t e n a n c e a n d r e p a i r e x p e n s e s .
T o r e a c h t h i s g o a l a n d a s p a r t o f a u s e r c e n t r i c s t r a t e g y , a n o n l i n e q u e s t i o n n a i r e w a s u s e d t o g a t h e r i n s i g h t s f r o m t h o s e w i t h p e r s o n a l o r p r o f e s s i o n a l e x p e r i e n c e w i t h p o w e r w h e e l c h a i r s [ 1 1 ] .
A t o t a l o f 1 3 9 p a r t i c i p a n t s w e r e i n f o r m e d a b o u t t h e s t u d y t h r o u g h a l i s t o f n o n g o v e r n m e n t a l o r g a n i z a t i o n s f o r p e o p l e w i t h d i s a b i l i t i e s a n d c o m p a n i e s s p e c i a l i z i n g i n w h e e l c h a i r s .
F o r u s e r s t h e s u r v e y d e l v e d i n t o t h e i r d i s a b i l i t i e s , c o n t r o l d e v i c e s p a s t e x p e r i e n c e s a n d d e s i r e d f e a t u r e s .
I t a l s o e x p l o r e d t h e i r m a i n t e n a n c e h i s t o r y p r e f e r e n c e s f o r r e m o t e s e r v i c e s a n d t h e i r t h o u g h t s o n i n t e g r a t i n g h e a l t h m o n i t o r i n g .
F o r o t h e r s i n v o l v e d t h e s u r v e y f o c u s e d o n t h e i r p r e f e r r e d f e a t u r e s , t h e s e r v i c e s t h e y w i s h e d u s e r s h a d a c c e s s t o a n d h o w s u p p o r t f o r w h e e l c h a i r u s e r s c o u l d b e i m p r o v e d .
T o e n d o r g e n e r a l f e e d b a c k .
T h e if n d i n g s u n d e r s c o r e d s e v e r a l k e y a r e a s o f i n t e r e s t f o r p a r t i c i p a n t s ; h i g h l i g h t e d h e r e a r e o b s t a c l e n a v i g a t i o n m o n i t o r i n g u s e r h e a l t h t r a c k i n g w h e e l c h a i r c o n d i t i o n a n d m a i n t e n a n c e a n d t r a i n i n g .
P o w e r w h e e l c h a i r s p o s e p r a c t i c a l c h a l l e n g e s d u e t o t h e i r b u l k i n e s s o b s t r u c t i v e s e a t i n g a n d l a c k o f v i s i b i l i t y a i d s m a k i n g n a v i g a t i o n d i c if u l t i n t i g h t s p a c e s .
R e s p o n d e n t s s u g g e s t e d i n c o r p o r a t i n g m i r r o r s c a m e r a s a n d / o r s e n s o r s . t h e r a p i s t s a n d c a r e g i v e r s a r e c o n c e r n e d a b o u t u s e r s ’ p r o l o n g e d 2.2. The Cyber Dimension: Petri Nets and Digital Twins 3. Discussion and Overview of Work in Progress
B
1 left_motor_stop drive change_2 drive change_5 drive raise_down lie_down raise chaGn:ge_3 seat change lie chaGn:ge_4
C
1 right_motor_stop go_Gfo:rxw=ard0_A2N_2D ys>toGp0_:4N_O2T( x = 0 AND y > 0 ) stoGp_:5NOT( x = 0 AgNoD_Gb:yaxc<k=w0a0)rdA_N2D_2yg<o_G0u:px = 0 AND ys>toGp0_:2N_O2T( x = 0 AND y > 0 ) stoGp_:3N_O2T( x = 0 AgNoD_Gd:yoxw<n=00)AND yg<o_G0fo:rxw=ard0_A3N_2D ys>toGp0_:6NOT( x = 0 AND y > 0 ) stoGp_:7NOT( x = 0 AgNoD_Gb:yaxc<k=w0a0)rdA_N3D_2y < 0 rbec=lin-e1_motor_backward rbec=lin1e_motor_forward esle=va1tion_motor_up esle=va-1tion_motor_down lefg=_m1otor_forward lefg=_m-1otor_backward
A seat - mode drive - mode lie - position raise - position mode position y x r l s b f 4. Conclusion and Future Work Acknowledgments This work had the support of the Portuguese Agency FCT ("Fundação para a Ciência e a Tecnologia"), in the framework of project UIDB/00066/2020, and through the PhD scholarship with the DOI https: //doi.org/10.54499/2020.08462.BD.