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 language | English |
|---|---|
| Pages (from-to) | 1715-1721 |
| Number of pages | 7 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 55 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2008 Apr |
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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 journal › Article
}
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 -