Power-assist control of an electric wheelchair considering step passage

Sakiko Tashiro, Toshiyuki Murakami

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

7 Citations (Scopus)

Abstract

Various welfare devices have been developed by the influence of population aging society. They are required to support caregivers as well as cared people these days, because the burden of nursing care is increasing. A method to realize caregiver's power-assist control for an electric wheelchair is proposed in this paper. This method enables power-assisted wheelchairs to adapt not only to flat roads, but also to roads with steps. Instead of a force sensor, a reaction torque estimation observer is constructed to detect the human torque input into the wheelchair. An inclination sensor is used to detect the step, and to determine the control method while passing over the step. Simulation and experiment were carried out to show the validity of the proposed method.

Original languageEnglish
Title of host publication2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
Duration: 2007 Sep 42007 Sep 7

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
CountrySwitzerland
CityZurich
Period07/9/407/9/7

Keywords

  • Power-assist control
  • Reaction torque estimation observer
  • Step passage
  • Wheelchair

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Tashiro, S., & Murakami, T. (2007). Power-assist control of an electric wheelchair considering step passage. In 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM [4412484] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2007.4412484