An approach to safety mechanism and control for improved operability in two-wheeled wheelchair

Nobuaki Hirata, Toshiyuki Murakami

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

Abstract

A two-wheeled wheelchair is a wheelchair without casters. It is underactuated system, and it can be modeled as an inverted pendulum. A two-wheeled wheelchair has improved former problems of a conventional four-wheeled wheelchair such as going over steps. However, two-wheeled wheelchair has unstable mechanism and must be kept stable by stabilizing control to prevent from falling. Passenger will control wheelchair by moving center of gravity, but this makes controlling two-wheeled wheelchair difficult than conventional wheelchair. In this paper, the motor powered backrest is installed to the two-wheeled wheelchair. The backrest moves according to the command input generated from the speed of the wheelchair, and supports human movement while stopping and improves controllability. The validity of the proposed method is confirmed by the experimental results.

Original languageEnglish
Title of host publication10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages121-126
Number of pages6
ISBN (Electronic)9781479957170
DOIs
Publication statusPublished - 2014 Jan 22
Event10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 - Tokyo, Japan
Duration: 2014 Nov 272014 Nov 29

Publication series

Name10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014

Other

Other10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
CountryJapan
CityTokyo
Period14/11/2714/11/29

Keywords

  • Mobile robots
  • Observers
  • Sensorless control
  • Stabilized control
  • Two-wheeled wheelchair

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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    Hirata, N., & Murakami, T. (2014). An approach to safety mechanism and control for improved operability in two-wheeled wheelchair. In 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 (pp. 121-126). [7018575] (10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MECATRONICS.2014.7018575