Intelligent Control Wheelchair Using a New Visual Joystick

Table 5

Performance indices from the users’ paths.

		Path length (m)	Time (sec)	Speed (m/sec)	Number of collisions	Uncompleted task	The average duration of collision (s)	The number of coin points to cross	Stop number
Path made by an expert		248.509	148.638	1.6719	0	0	0	26	0
Patient I	Disabled path	322.871	628.463	0.5710	7	3	3.228	14	9
	Intelligent visual joystick path	261.070	203.297	1.3647	0	1	0	21	3
Patient II	Disabled path	297.6955	670.648	0.4700	5	2	3.461	17	4
	Intelligent visual joystick path	289.7011	262.4178	1.1882	3	0	2.874	20	2
Patient III	Disabled path	410.6635	949.965	0.5305	26	4	4.843	12	14
	Intelligent visual joystick path	306.1023	319.034	1.0563	5	1	3.451	17	3