Step passage control of a power-assisted wheelchair for a caregiver

Sakiko Tashiro, Toshiyuki Murakami

Research output: Contribution to journalArticle

50 Citations (Scopus)

Abstract

Various welfare devices have been developed by the influence of the population's aging society. They are required to support caregivers and cared-for people these days because the burden of the nursing care is increasing. A method to realize a 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. Simulations and experiments were carried out to show the validity of the proposed method.

Original languageEnglish
Pages (from-to)1715-1721
Number of pages7
JournalIEEE Transactions on Industrial Electronics
Volume55
Issue number4
DOIs
Publication statusPublished - 2008 Apr

Fingerprint

wheelchairs
Wheelchairs
roads
torque
Torque
Nursing
sensors
Sensors
inclination
Aging of materials
simulation
Experiments

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Instrumentation

Cite this

Step passage control of a power-assisted wheelchair for a caregiver. / Tashiro, Sakiko; Murakami, Toshiyuki.

In: IEEE Transactions on Industrial Electronics, Vol. 55, No. 4, 04.2008, p. 1715-1721.

Research output: Contribution to journalArticle

@article{8120a8ad18d74364b3b066d46cd41855,
title = "Step passage control of a power-assisted wheelchair for a caregiver",
abstract = "Various welfare devices have been developed by the influence of the population's aging society. They are required to support caregivers and cared-for people these days because the burden of the nursing care is increasing. A method to realize a 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. Simulations and experiments were carried out to show the validity of the proposed method.",
keywords = "Power-assist control, Reaction torque estimation observer, Step passage, Wheelchair",
author = "Sakiko Tashiro and Toshiyuki Murakami",
year = "2008",
month = "4",
doi = "10.1109/TIE.2008.917061",
language = "English",
volume = "55",
pages = "1715--1721",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "4",

}

TY - JOUR

T1 - Step passage control of a power-assisted wheelchair for a caregiver

AU - Tashiro, Sakiko

AU - Murakami, Toshiyuki

PY - 2008/4

Y1 - 2008/4

N2 - Various welfare devices have been developed by the influence of the population's aging society. They are required to support caregivers and cared-for people these days because the burden of the nursing care is increasing. A method to realize a 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. Simulations and experiments were carried out to show the validity of the proposed method.

AB - Various welfare devices have been developed by the influence of the population's aging society. They are required to support caregivers and cared-for people these days because the burden of the nursing care is increasing. A method to realize a 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. Simulations and experiments were carried out to show the validity of the proposed method.

KW - Power-assist control

KW - Reaction torque estimation observer

KW - Step passage

KW - Wheelchair

UR - http://www.scopus.com/inward/record.url?scp=42549149355&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=42549149355&partnerID=8YFLogxK

U2 - 10.1109/TIE.2008.917061

DO - 10.1109/TIE.2008.917061

M3 - Article

VL - 55

SP - 1715

EP - 1721

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

IS - 4

ER -