Power assist control of electric wheelchair using equivalent jerk disturbance under slope environment

Shinsuke Nomura, Toshiyuki Murakami

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

5 Citations (Scopus)

Abstract

With the aging of population in Japan, research of electric wheelchair for higher performance is getting more and more important. Power assist wheelchair is an example of electric wheelchair. Power assist wheelchair amplifies passengers maneuvering force, thus it is useful for elderly people who have weaker muscle force. And it is also helpful for aspect of health-maintenance because it requires using surviving ability of passenger. One big difficulty for wheelchair users is maneuvering in slope environment where gravity effect exists. In this research, "equivalent jerk disturbance" which is differential of estimated disturbance by observer is used for power assist control. Equivalent jerk disturbance is unaffected by gravity force, thus it is useful for wheelchair users to maneuver under slope environment.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages572-576
Number of pages5
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Keywords

  • Electric wheelchair
  • Equivalent jerk disturbance
  • Power-assist control

ASJC Scopus subject areas

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

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