TY - GEN
T1 - An approach to safety mechanism and control for improved operability in two-wheeled wheelchair
AU - Hirata, Nobuaki
AU - Murakami, Toshiyuki
PY - 2014/1/22
Y1 - 2014/1/22
N2 - A two-wheeled wheelchair is a wheelchair without casters. It is underactuated system, and it can be modeled as an inverted pendulum. A two-wheeled wheelchair has improved former problems of a conventional four-wheeled wheelchair such as going over steps. However, two-wheeled wheelchair has unstable mechanism and must be kept stable by stabilizing control to prevent from falling. Passenger will control wheelchair by moving center of gravity, but this makes controlling two-wheeled wheelchair difficult than conventional wheelchair. In this paper, the motor powered backrest is installed to the two-wheeled wheelchair. The backrest moves according to the command input generated from the speed of the wheelchair, and supports human movement while stopping and improves controllability. The validity of the proposed method is confirmed by the experimental results.
AB - A two-wheeled wheelchair is a wheelchair without casters. It is underactuated system, and it can be modeled as an inverted pendulum. A two-wheeled wheelchair has improved former problems of a conventional four-wheeled wheelchair such as going over steps. However, two-wheeled wheelchair has unstable mechanism and must be kept stable by stabilizing control to prevent from falling. Passenger will control wheelchair by moving center of gravity, but this makes controlling two-wheeled wheelchair difficult than conventional wheelchair. In this paper, the motor powered backrest is installed to the two-wheeled wheelchair. The backrest moves according to the command input generated from the speed of the wheelchair, and supports human movement while stopping and improves controllability. The validity of the proposed method is confirmed by the experimental results.
KW - Mobile robots
KW - Observers
KW - Sensorless control
KW - Stabilized control
KW - Two-wheeled wheelchair
UR - http://www.scopus.com/inward/record.url?scp=84949922604&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84949922604&partnerID=8YFLogxK
U2 - 10.1109/MECATRONICS.2014.7018575
DO - 10.1109/MECATRONICS.2014.7018575
M3 - Conference contribution
AN - SCOPUS:84949922604
T3 - 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
SP - 121
EP - 126
BT - 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
Y2 - 27 November 2014 through 29 November 2014
ER -