An approach to sensorless detection of human input torque and its application to power assist motion in electric wheelchair

Yukiko Kaida, Toshiyuki Murakami

研究成果: Review article査読

21 被引用数 (Scopus)

抄録

A wheelchair is an important apparatus of mobility for people with disability. Power-assist motion in an electric wheelchair is to expand the operator's field of activities. This paper describes force sensorless detection of human input torque. Reaction torque estimation observer calculates the total disturbance torque first. Then, the human input torque is extracted from the estimated disturbance. In power-assist motion, assist torque is synthesized according to the product of assist gain and the average torque of the right and left input torque. Finally, the proposed method is verified through the experiments of power-assist motion.

寄稿の翻訳タイトルAn approach to sensorless detection of human input torque and its application to power assist motion in electric wheelchair
本文言語Japanese
ページ(範囲)137-142
ページ数6
ジャーナルieej transactions on industry applications
126
2
DOI
出版ステータスPublished - 2006

Keywords

  • Human interaction
  • Power-assist
  • Reaction torque estimation observer
  • Sensorless
  • Support for disabled people
  • Wheelchair

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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