A step passage strategy using environment recognition for an electric two-wheel wheelchair

Florent Hoareau, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Various situations can force people to rely on wheelchairs to be able to move. Despite the fact that cities are more and more aware of the difficulties that wheelchair users have to deal with and despite their increasing concern to provide them a friendlier environment, the gap between non-disabled people and disabled people still exists. To improve their quality of live, enhancements can also be done on the wheelchair itself. For example, electric wheelchairs reduce the required physical effort to move. But one of the trickiest situations are steps. They are omnipresent in cities and even if their rise height is small, they are still an obstacle. In this paper, a control method combining computer vision environment detection and modern control theory is proposed to achieve step-passage motion with a two-wheel wheelchair.

Original languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages492-497
Number of pages6
ISBN (Electronic)9781479984640
DOIs
Publication statusPublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
Duration: 2016 Apr 222016 Apr 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Hoareau, F., & Murakami, T. (2016). A step passage strategy using environment recognition for an electric two-wheel wheelchair. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 492-497). [7496398] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496398