Pushing task by repulsive compliance control in electric wheelchair using acceleration information

Tsuyoshi Shibata, Cihan Acar, Toshiyuki Murakami

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

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 this paper, a new power assist control using acceleration information of object is proposed as intelligent function of wheelchair. In this strategy, acceleration information of object 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 equivalent acceleration observer (EAOB) is employed to use acceleration of object. Relative distance between wheelchair and object is kept by assuming acceleration of object input to EAOB. Second, a compliance control is constructed to generate the motion command of pushing task. Here the motion command is determined so that the wheelchair accelerates. The compliance control itself is passive control, and stable and flexible responses are expected. Thirdly, a disturbance observer (DOB) is employed to guarantee stability of whole control system. 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 publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages3437-3442
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Compliance control
Wheelchairs
Acceleration control
Disabled persons
Velocity control
Wheels
Torque
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Shibata, T., Acar, C., & Murakami, T. (2008). Pushing task by repulsive compliance control in electric wheelchair using acceleration information. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 3437-3442). [4758513] https://doi.org/10.1109/IECON.2008.4758513

Pushing task by repulsive compliance control in electric wheelchair using acceleration information. / Shibata, Tsuyoshi; Acar, Cihan; Murakami, Toshiyuki.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 3437-3442 4758513.

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

Shibata, T, Acar, C & Murakami, T 2008, Pushing task by repulsive compliance control in electric wheelchair using acceleration information. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758513, pp. 3437-3442, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758513
Shibata T, Acar C, Murakami T. Pushing task by repulsive compliance control in electric wheelchair using acceleration information. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 3437-3442. 4758513 https://doi.org/10.1109/IECON.2008.4758513
Shibata, Tsuyoshi ; Acar, Cihan ; Murakami, Toshiyuki. / Pushing task by repulsive compliance control in electric wheelchair using acceleration information. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 3437-3442
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