Power-assist control of an electric wheelchair considering step passage

Sakiko Tashiro, Toshiyuki Murakami

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

Various welfare devices have been developed by the influence of population aging society. They are required to support caregivers as well as cared people these days, because the burden of nursing care is increasing. A method to realize 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. Simulation and experiment were carried out to show the validity of the proposed method.

本文言語English
ホスト出版物のタイトル2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOI
出版ステータスPublished - 2007 12 1
イベント2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
継続期間: 2007 9 42007 9 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
国/地域Switzerland
CityZurich
Period07/9/407/9/7

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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