Power assist control by repulsive compliance control of electric wheelchair

Tsuyoshi Shibata, Toshiyuki Murakami

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

3 Citations (Scopus)

Abstract

This paper describes a power assist control in pushing task by an electric wheelchair. Recently, wheelchairs are widely used in daily lives by disabled person in walking. To improve the function of wheelchair, a lot of studies of power assist control in electric wheelchair have been considered. In this paper, a new power assist control in pushing task is proposed as intelligent function of wheelchair. This is called a repulsive compliance control. In this strategy, reaction force of human input into object is estimated and is utilized to generate the power assist torque for wheels driving. The proposed approach brings a sophisticated function that makes it easy to carry out pushing task by wheelchair users. First, an acceleration estimation observer (AOB) and a disturbance observer (DOB) are employed. AOB can abstract human input as equivalent acceleration without force/torque sensor. DOB guarantees stability of whole control system. Second, a compliance control is constructed to generate the motion command of pushing task. The compliance control itself is passivity based control, and stable and flexible responses are expected. Here an assistance ratio is designed based on velocity control of wheelchair. Finally, to confirm the validity of the proposed approach in experiments, two test operations are implemented.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages504-509
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Shibata, T., & Murakami, T. (2008). Power assist control by repulsive compliance control of electric wheelchair. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 504-509). [4516118] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516118