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Category: collaborations

Let’s Get Andrei Rolling Again!

Recently, I showed up to the Easy Does It office along with Judi Rogers. I was looking for collaborators on a project with my organization, Grassroots Open Assistive Tech. And while I knew a little about EDI Executive Director Bruce Curtis’s, work and activism, I had never met him in person before.

“You might be wondering, why this particular guy in Moldova and his wheelchair…” I said diffidently to Bruce to kick off our meeting, figuring I would have to explain and justify this project.

“Doesn’t matter.“ Bruce said. “We don’t care! You’re talking with him. He needs the help. Let’s do it.”

Oh, my god! What a badass, and a kindred spirit. My friend Judi was laughing as she saw my delight at this 100% no bullshit attitude. This is something I deeply believe in as an activist: that we are here to do the work in front of us, whatever comes our way.

I’d like to tell a little of this story, and how we are working to get Andrei rolling and outside again!

Earlier this fall, I saw a Reddit post from a guy in Moldova, Andrei, who has a used, refurbished Permobil F5 powerchair. He was looking for low cost or DIY possibilities to help him change the joystick that controls his chair. I was impressed by his clear description of the situation, and his willingness to dive into whatever it would take technically to do this project.

On a power chair, with a default setup, you need to be able to push the joystick half an inch or so in every direction to control the chair’s motion and speed. Andrei, who has SMA, a progressive neuromuscular condition, recently lost much of the strength and mobility in his hand, and is not able to drive his chair at all.

andrei, wheelchair user with dark hair, holding his dog Bobby

With a micro joystick, controllable by very small movements of even one finger or thumb — like the control on some laptop keyboards – Andrei could leave the house again, walk his dog Bobby, and enjoy the outdoors.

However, changing the method for driving the chair requires the ability to reprogram the motor controller. Wheelchair manufacturers consider this proprietary technology, and only give out the tools and codes to reprogram a chair to their authorized vendors and their repair techs. The vendors and repair techs will only work on chairs that they sold you. This is part of why there is a legal battle all over the United States at the state and federal level for the Right to Repair.

A complex powerchair of the kind Andrei needs can easily cost 20 or 30 thousand dollars. This is part of why many disabled people are using donated, or secondhand market, chairs. When we need to modify these chairs to meet our changing needs, or fix them when they break, we are blocked by the proprietary tech and the limits on who is considered an “authorized repair person”. It is a familiar story to anyone with a complex wheelchair.

Added to these issues, Andrei is in Moldova, where occupational therapy and mobility tech are not easily available.

It became clear that Andrei needed more than a new joystick or a head or chin control. He needed consultation with expert advisors to figure out some options that might work, then, potentially help to reprogram his motor controller to work with those new parts, and help installing them.

Olga, Ian, and I, from GOAT, approached this problem by pulling together a coalition team to talk with Andrei. I asked Judi Rogers, Chair of the Board of the Center for Independent Living in Berkeley, for a recommendation of an occupational therapist specializing in seating and mobility who might talk with Andrei over video chat. She immediately volunteered to do it herself! We had a productive call with Andrei and Maria, helped out by translation by Olga and Levan, who both speak Russian.

Later, Bruce Curtis, Levan, and Rose from Easy Does It Emergency Services joined us along with Vincent Lopez from ILRCSF. We got Andrei and Maria to record a video of how Andrei transfers with his lift and have been able to improve his seating setup already. Rose who has the same condition as Andrei was able to give him a lot of advice and had great ideas for further support, and is working to get Andrei talking with Genentech about new medications and “compassionate use” free programs. We also have been chatting with Morgan Kanninen and John Benson from the CIL assistive tech and repair team for advice — and the CIL has kindly let us scout their warehouse for parts.

Now, we have a list of equipment that Levan and Vince are assembling and testing, and are making a plan to fly it out (along with a repair tech from GOAT!) to Andrei. Some of this equipment is scavenged, and some we will need to buy either used or new.

Some of the equipment we are assembling and testing:
– chin control for driving the chair
– micro joystick as a second option for a controller
– “attendant controls” for the back of the chair
– various swing-away mounting arms for the controllers
– cough assist vest, nebulizer, bipap (he will need to find medical help for it, but we could get him the equipment)
– variety of foam for seating and positioning
– tools for wheelchair maintenance

Together, we are creating a plan to get Andrei moving and independent.

We would like to ask your help to fund this plan!!!

Please donate today to GOAT! If you can donate through a corporate matching program, like Benevity, or Cybergrants/Front Door, that helps to increase the amount. We need to cover the expenses and plane fare for our traveling wheelchair repair tech as well as the equipment we can’t get for free.

We’re looking for funds right now, for this specific project, to get Andrei rolling as soon as possible.

But we also would love any extra support for our various organizations:

GOAT – https://www.openassistivetech.org/donations/
Easy Does It – https://easydoesitservices.org/
Center for Independent Living – https://thecil.org/donate/
Independent Living Resource Center San Francisco – https://www.ilrcsf.org/

These organizations are led by disabled people and were founded by disabled leadership and they all do great work. They grew from the powerful uprising of the disability rights movement in the 1970s in Berkeley, Oakland, and San Francisco. They are not run by religious organizations, or by the local, state, or federal government though they may get government grants. But these are fundamentally progressive activist organizations that are rooted in disabled community. That is very important to the work that they do! And they need community support.

meeting with EDI, GOAT, ILRCSF, Andrei and Maria
Online meeting screen showing people from EDI, GOAT, ILRCSF, Andrei, and Maria

About working with Andrei, and conditions in Moldova

It has been good just getting to know Andrei and his mother. I have deep respect for them both. Andrei is engaging, a good writer and clear communicator, impressing me as smart and powerful, knowledgeable and determined. He is a bit blown away by knowing that half the people on this motley crew are fellow wheelchair users. We keep throwing links at him – watch Crip Camp! Here’s an article about disability rights! And as, stuck in his home without independent movement, he spends a lot of time online , he has now watched and read even more widely.

The only person who will help Andrei, for even the smallest tasks, is his mother Maria. And no one is helping her. This is not a community where your neighbor comes over to bring you a pie or lend you a screwdriver, much less a place to expect any sort of consideration for disability rights or justice, or a thought to care or even survival.

mother and son, dressed up for a party, with flowers and a beautiful home-made feast

I had a little superficial knowledge of what disabled people faced in the former USSR, from reading Rúben Gallego’s memoir, White on Black, of growing up with cerebral palsy in rather horrible institutions. When Andrei told me a bit more about his life and his history of his family, I realized it was about a million times more challenging than I had imagined. Crushing poverty and the indifference of those around him meant that he and his late sister, who also had SMA, were prisoners in their own home and lucky to have a home at all. These are the conditions for his struggle for survival, for connection, education, contributing to society, and for happiness.

I want to let you read his story in his own words.

Andrei’s story

I was born in 1988, back in the Soviet Union, in the city of Lipcani. I was quite an active child. According to my mother, I loved to climb onto a chair and then onto the table. A couple of times, I got into trouble with teacups I encountered along the way, and I broke them. The first signs that something was wrong began at about one year and three months. I could crawl and stand on my feet, but I wasn’t able to take my first step. I crawled a lot and could only stand by holding on to something.

We visited many doctors in Moldova and Ukraine. At first, before I was two, I was diagnosed with flat feet. Then we visited a genetic institute in Kyiv, and I was diagnosed with Duchenne muscular dystrophy. My parents wanted more children, and doctors in Kyiv convinced them that if they had a girl, she would be completely healthy, so they took the risk again. And in 1994, my sister Ekaterina was born. At first, our joy knew no bounds. I really wanted to have a little sister, but at about seven months, my mother realized that she was starting to weaken. She couldn’t stand without help and got tired very quickly, but this was somewhat compensated for by her incredible cheerfulness and natural energy.

It was a difficult time. We had no electricity for several years, or if it came on, it was only for a couple of hours at night. There was no work. My father was unemployed, so my parents turned to farming to survive. We bought a cow and took five plots of land for vegetable gardens. But soon my father left for work in Kazakhstan, and then a year later, to Russia. My mother single-handedly cultivated all this land and looked after the cow.

As the eldest, I babysat my sister, rocking her when she was little, helping her get up when she fell. My father earned some seasonal work in Russia, and my mother looked after us here alone. It was incredibly difficult for her; society persecuted her for us being sick; people in their ignorance thought it was her fault. We were children who just wanted to go for walks, just to get out of the house, but it often happened that my mother could only take one wheelchair with her to take one of us for a walk. One day, she took us both and pushed one wheelchair about 20 meters, then the other. But I stayed home more and more often because my mother couldn’t keep up. She sold milk from our cow, and together with Katya, they delivered it for many years.

For a long time, we didn’t have our own place and lived with my grandfather, my father’s father. He loved strong drinks and smoking, and often kicked us out. In 2001, we bought a small house on a slope. While my grandfather’s house was on level ground, and I could navigate the yard in my wheelchair, albeit with difficulty, our new house had a steep slope. This move was a minor tragedy for me: I couldn’t do anything outside the house anymore, and because of the slope, I flipped over in my wheelchair several times.

At about 13, all my friends disappeared, they became ashamed to play with me, I became a recluse, immersed myself in studying, my sister and I were homeschooled, I liked studying, my favorite subjects were history and biology, and partially math until the 8th grade, until they changed my teachers, the new teacher knew nothing about it. I finished 9 years of high school, and I was faced with the fact that if I wanted to continue studying, I had to attend school in person, there was no one to take me there every morning and that was the end of my education.

Around 2005, they bought me my first computer, it was an Intel 386, it often broke down, my sister and I usually made schedules for each of us to sit at it for how long, at first we played old games like Mario, Dyna Blaster, she liked to play The Sims, also some project similar to Second Life, or maybe that was the game. I played Starcraft 2, Civilization, Heroes of Might and Magic, The Witcher, then around 2008 I got hooked on the Chinese MMORPG Perfect World, I made a lot of friends from different countries there and my first love, it was a girl from Russia from the city of Chelyabinsk, about 3000 km from us, she invited me to her place, we were both 19-20, but I could not admit to her that I was disabled, I was afraid that she would turn away from me, then she found a new job, met a guy there and I just decided to disappear from her life.

Then some kind of epidemic series came, my sister and I were very often and seriously ill with respiratory diseases, here and in Ukraine in 2009 there was an epidemic of swine flu, my sister suffered from pneumonia 10 times in a year, she was a real fighter and never gave up, our attending physician advised us that when we were especially ill, we were given oxygen from an ordinary construction cylinder, she was getting worse, we called an ambulance 4 days in a row, they did not want to help us, I asked the ambulance for an ambu bag for my sister, but they said that they did not have one, my mother and Katya went by ambulance to the intensive care unit and they drove 25 km in almost 2 hours, halfway there they stopped at a gas station to refuel, my mother said that in the ambulance (an old Soviet car that stank terribly of gasoline), and my sister suffocated in my mother’s arms, the ambulance never took her to the intensive care unit, this was on December 26, 2009.

a girl with her mother, their faces close together

My sister was very cheerful and strong; she was often bullied by her peers, but she never gave up. She always led an active lifestyle, even going to nightclubs.

After these events, I plunged into a long depression that lasted about 4-5 years. My mother became very ill. At 40, she developed arthritis/arthrosis; she literally couldn’t walk due to the stress; her nervous system couldn’t cope. During this whole time, my mother lifted me herself and even injured her back. We began looking for solutions because my mother couldn’t walk on her own, and we still had to lift me, and one of my mother’s friends helped us. She found an old mechanical lift and gave it to us; before that, my mother had lifted me manually for 28 years.

We asked my father, who was seasonally in Moscow, to find a lift, but he complained that he couldn’t find anything. Around 2015, he lost his job completely, and we returned to farming for a few years. Around 2019, my mother’s sister, who lives in France, took him there to work, and around 2020, he bought me my first wheelchair, an Optimus 2. Then he bought me an electric lift from there.

After buying an electric wheelchair, my life changed dramatically. I felt a freedom I had never had before. I literally cried the first time I went outside. I was able to drive about 200-300 meters down the road. I was dizzy, but I was happy. I was no longer tied to the house and my room. Before that, I could only go out into our yard with its awkward slope and stand still, or 2-3 times a year I was taken along bad roads to the park or lake. I started going for daily walks with my mother, and then sometimes on my own. Those were probably the happiest years of my life. We’d walk in the evenings when my mother was finishing her chores. We managed to get her appointed as my social worker through the courts. The state took part of my pension and gave it to my mother as her salary, adding an extra 1,200 lei. One day, my mother had a relapse with her back; she literally couldn’t walk, so I went to the pharmacy to get her some medicine.

We didn’t have the conditions for me to be able to leave the house without any problems. Although we didn’t have high steps, we used a wooden flooring as a ramp, but it quickly fell into disrepair. My mother fell off it one late fall and broke her arm. It was a real tragedy. She couldn’t lift me up or fix me with one arm, but there was no one to ask for help. She lifted me with one hand, through terrible pain, using an electric lift. Then, a year later, I fell off this ramp and almost flipped over. It took superhuman effort for my mother to keep the wheelchair and me on two wheels. After that, we decided to add another room so that there would be no steps at all and I would have a smooth, free exit to the street.

My condition has been rapidly deteriorating over the past 2-3 years. I’ve had several close calls. The first time was a year ago, when I pulled out of my driveway and, since we live in a fairly hilly area, I couldn’t stop, and a truck was following me. I was seriously scared. I couldn’t stop, and the truck was behind me. I managed to pull over to the side of the road, and the wheelchair stopped, hitting rocks. The second time, I was with my mother, but due to the downward slope, my hand pressed the joystick all the way down, and I crashed into a car. There was another time when, again due to a steep slope, I couldn’t stop and crashed into an obstacle on the side of the road. That’s why I started looking for a different electric wheelchair, one with slope adjustment and a gyroscope. My rides on the Meyra Optimus 2 for the last year have been like this: my hand was placed on a homemade joystick, and my mother pushed my elbow from behind to move forward, as I don’t have the strength to do so.

My dog’s name is Bobby, I found him in the park where I often walk, 3 years ago, and I consider our meeting predetermined, I was sometimes very lonely walking alone, and you could say he found me, came up to me and started gnawing on the footrests of my wheelchair, I could not resist and asked several schoolgirls to catch him for me and put him in a backpack at the back of the wheelchair.

As for games, I’ve completed all of The Witcher games, Far Cry 3-4, Dark Souls 3, Resident Evil 3 remake, RDR2 partially, Kingdom Come Delivery partially, Fallout 4 partially, Crusader Kings 2, Xcom, I didn’t like Metro Exodus. I mostly like reading science fiction and fantasy. I used to read the Warhammer 40k series Dan Abnett, Dan Simmons Hyperion, The Terror, and Remarque’s Black Obelisk. The last one I read was Peter Watts’s Blindsight, which is 50% complete. I’m reading less and less because my eyes get tired. I also had memory problems after COVID, so I started playing chess to improve my memory.

As for movies, I love historical costume dramas. I also love sci-fi and documentaries. I watch Netflix series quite often. Usually on various topics, but also something historical. I already mentioned that I’m a bit of a chess fan because it’s good. It stimulates memory. Regarding neural networks, when the first local generative neural networks appeared, like Stable Diffusion and flux, I started studying them. Nothing serious, but it’s something between graphic design and machine learning. I studied LoRA (Low-Rank Adaptation) training. I used to make custom banners, but with the development of neural networks, it became less popular.

I don’t know why, but I often see strong women in this world, while men often suffer from nonsense: they drink, smoke, use drugs, and waste their lives. Sometimes I think I’m the same as them. I often made plans to do something, change my life, start earning money, and I even found work. For about a year and a half, I was an operator at a local transport company, answering calls and managing clients, but with the onset of COVID, they closed. Then neural networks appeared, and I freelanced a little, which also lasted for about 1.5–2 years. I was able to buy a modern computer. But there were also many failures. I tried to learn programming and I liked it, but because I’ve been typing on an on-screen keyboard for many years, my typing finger became inflamed from the sheer amount of writing; it hurt terribly and became crooked, so I gave up.

I would like to study. I liked psychology and law, but these are more like dreams that warm the soul and are not destined to come true. I’m not sure I have enough strength for this (and it seems I’ve forgotten everything I studied 20 years ago).

As for music, I like hard rock, heavy metal, grunge, and alternative metal/rock. I’ve also listened to punk rock, but mostly Russian bands, and sometimes I like to listen to classical music. I also like operatic vocals, but I’m not very knowledgeable about it. For a while, I really liked the band Nightwish, where metal intersects with opera singing.
Regarding what’s happening in the world, it seems to me that we are plunging into the Dark Ages again. There is too much stratification in society, too much injustice, and there is no solution. The rich live in their own world and do not want to change anything. I am afraid of where the world is heading — that it is mired in conflicts, and human rights and freedom of speech are turning into empty words again.

andrei fundraiser

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C.R.I.P.S.R.I.S.E. collab: 3D printing for Permobil chairs

As part of GOAT’s collaboration with C.R.I.P.S.R.I.S.E., I’d like to quickly show off their newest 3D printable design, a hook designed to work with the Permobil’s Unitrack mounting system. You can take a look (or print one yourself!) on Thingiverse:

https://www.thingiverse.com/thing:7150714

3d model of a bag hook mount for a powerchair

One of GOAT’s workshop participants asked for this for his chair, and would like to test different styles of hook. There are some printable designs already out there, for example, on yeggi.com: https://www.yeggi.com/q/permobil%20unitrack/

After taking a look at this and other designs, @CriptasticHacker ended up using this model as a base, improving on it, and publishing it with an explanation of his changes.

I was curious to see this printed with a strong nylon or carbon filament, but was persuaded that we should first try this PetG model before amping things up to print in tougher filament that will take many more hours of run time to complete.

We’re looking forward to installing it and giving it a good test!

 

 

 

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Scanning with C.R.I.P.S.R.I.S.E.

I’ve written a lot about GOAT’s book scanning activities for our archival work, but today have another kind of scanning to talk about! Last week I met with @CriptasticHacker from C.R.I.P.S.R.I.S.E., to walk through the process of scanning a physical object for 3D printing. Buckle up, this is nerdy as hell!

First of all I would like to show off the useful object that @CriptasticHacker brought to show me. His Whill powerchair joystick was slipping around, so he took it apart and had a look. It turns out the inside of the joystick has a plastic part that snaps onto a metal post. Because of the way it is designed, you can change the orientation of the joystick from vertical to horizontal so it fits your hand for steering. Over time though, and daily use, bits of that plastic part wore away so that the joystick slid around uncontrollably, making it hard to drive accurately. So he scanned that part, redesigned it, and 3D printed it.

Here’s a comparison of the old and new parts side by side:

view of the inside of two plastic joystick interiors, one with holes in it and a worn out inner slot; the other freshly printed, solid, and robust

Pretty cool isn’t it?!

@CriptasticHacker is largely self taught over many years of watching free online videos and experimentation at home. There are also local and worldwide 3D scanning and printing communities where he has gotten advice and other resources.

His original setup was a Creality Ferret, an infrared only scanner which you can buy for around $150. Very affordable! For this demo, he brought over a borrowed Creality Raptor, more expensive and more accurate which can do infra scans but also a blue laser scan. The Raptor is larger than the Ferret, but still quite portable. Along with that, he had a small turntable with dotted “reference points” on it in a regular pattern. (That turntable was made from 3D printed parts!)

There are also other accessories, like a carrying case, a portable handheld gizmo that looks like the things they use to do checkout in grocery store, tripods, etc. and extra stickers with more reference dots you can put onto larger objects that don’t fit onto the turntable. There is also an infrared spray But for this demo we stuck with the basics!

Our first step was for me to install the free Creality scanning software. With my 5 year old MacBook Air and a decent wifi connection this took just a few minutes to download and install. This software connected to the Raptor easily.

I was excited to try to scan something small but complicated. In a project bag I had out I happened to have an old prescription bottle with some screws in it so we took off the cap.

For people who may not be familiar with the free/open culture and “open source” vibe, I should explain that I 100% expected that someone, in fact multiple people, around the world have already scanned, cleaned up, and published designs for this exact sort of standard medicine bottle cap. That turned out to be true! Here are some examples from Thingiverse, Printables, and Yeggi, which are some popular platforms for designers to share their creations with the world, as a public good, often under Creative Commons licenses.

The software seemed pretty mysterious to me, but @CriptasticHacker walked me through the basic settings. For an older computer he recommends setting the resolution of the scan to lower than the default of .15mm; something more like .5mm. A lower resolution and lower frame rate means less precision for the final design and print, but also means a quicker scan time, and smaller file sizes and faster processing for the software tricks we were about to perform. I wanted to try with the defaults of .15mm resolution and 23fps frame rate, which luckily my computer was easily able to handle.

shot of the scanning software setup page with frame rate options and a "start scan" button

Our next step was to put the object on the turntable, hit “scan”, and turn the dolly slowly. As that happens, the image of the medicine bottle cap formed on my laptop screen first in an orange outline and then in blue “paint” as the surface was mapped more precisely. The goal of the scans is to get everything mapped in blue, as much as possible.

a guy in rainbow sunglasses bending over a scanning turntable to adjust it

We then stopped the scan and started a new scan with the cap flipped over. I wasn’t going for production quality — just enough to give me an idea of what it took to do a decent scan. Our two scans were about 300MB each.

With these two initial scans, the next step was to eliminate everything that wasn’t the stuff we wanted to print. That meant a pretty clunky process of lassoing and deleting parts of the image with a non-ideal navigation menu. Good luck with this if you don’t have great hand dexterity – if so, you will need to partner with someone else to massage your image files! I gave it a quick stab.

After the image cleanup, you have to match up the files so that they line up properly. In this case, we needed a point on top of the cap and at least two other points, to match points on the bottom. Our first two tries sucked, but then we kind of figured out how to align the files well enough to merge, or fuse, the two images. The end result was a 3-d looking object, a bit raggedy, but recognizable a screw top lid for a medicine bottle. We then exported this as an STL file which turned out to be about 5MB. Much better than the 600MB scan files we were manipulating in Creality’s software! STL files are a common format used by 3D printers.

From there, we uploaded the STL file into a CAD program. There are tons of CAD programs and people spend years becoming great at using them! Some are expensive but there are also free options. @CriptasticHacker showed me a free CAD program called TinkerCAD, that works in a web browser and that I think may be meant for children or at least, for educational settings. In this program we could further edit and manipulate our 3d printing file. So, for example, I could click on the pre-set shape options in TinkerCAD’s menu and drag a 3-d blob or some text over to the top of our bottle cap to add it.

It was really fun just being able to rotate and zoom in on this virtual object, and I felt like a wild, futuristic wizard doing it!!

laptop screen with two 3d images of a bottle cap rotated in different directions, behind it, the actual object on a turntable platform

If you weren’t actually scanning, and instead started with a base STL file, say, that you downloaded from Thingiverse or a similar platform, you could modify the file, add raised text or a more grabbable shape easily to the bottle cap. Then, you could export that new STL file and print it on a 3D printer.

And that’s another post for the future, when I will go through some of the printing process with C.R.I.P.S.R.I.S.E.!

There are other options that don’t require you to own a 3D printer and learn to use it. Local libraries or schools or makerspaces may have 3D printers, or experts to set them up and help you print. Under the U.S. Assistive Technology Act, there are programs in some states to provide 3D printed assistive tech for people, like TechOWL/CreATeLabs in Pennsylvania or WATAP in Washington state. Makers Making Change has many people who may 3D print stuff for you for free or a small fee.

Other options include looking for local or far-flung printing labs who will make stuff for you for a fee. I have not tried this yet, but am told that it has become surprisingly affordable and can be worth it for custom parts. Some that we talked about: Proto Labs, Makelab, Shapeways, Xometry, and JLC 3d Prints.

You can also print in different materials depending on what you need. PetG or PLA filament, nylon (tougher, but slower to print and needs a lot of ventilation to avoid fumes) or carbon fiber (toughest but also slowest).

A final thought form Criptastic Hacker and C.R.I.P.S.R.I.S.E.:

Disabled people deserve to have customized stuff! Not rattling half broken things that don’t suit our needs!

guy in rainbow sunglasses smiling and doing a big thumbs up at an outdoor picnic table

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