An approach to sensorless detection of human input torque and its application to power assist motion in electric wheelchair

Translated title of the contribution: An approach to sensorless detection of human input torque and its application to power assist motion in electric wheelchair

Yukiko Kaida, Toshiyuki Murakami

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

A wheelchair is an important apparatus of mobility for people with disability. Power-assist motion in an electric wheelchair is to expand the operator's field of activities. This paper describes force sensorless detection of human input torque. Reaction torque estimation observer calculates the total disturbance torque first. Then, the human input torque is extracted from the estimated disturbance. In power-assist motion, assist torque is synthesized according to the product of assist gain and the average torque of the right and left input torque. Finally, the proposed method is verified through the experiments of power-assist motion.

Original languageJapanese
Pages (from-to)137-142
Number of pages6
JournalIEEJ Transactions on Industry Applications
Volume126
Issue number2
DOIs
Publication statusPublished - 2006

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Wheelchairs
Torque

Keywords

  • Human interaction
  • Power-assist
  • Reaction torque estimation observer
  • Sensorless
  • Support for disabled people
  • Wheelchair

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

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AB - A wheelchair is an important apparatus of mobility for people with disability. Power-assist motion in an electric wheelchair is to expand the operator's field of activities. This paper describes force sensorless detection of human input torque. Reaction torque estimation observer calculates the total disturbance torque first. Then, the human input torque is extracted from the estimated disturbance. In power-assist motion, assist torque is synthesized according to the product of assist gain and the average torque of the right and left input torque. Finally, the proposed method is verified through the experiments of power-assist motion.

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