Power-assist control of an electric wheelchair considering step passage

Sakiko Tashiro; Toshiyuki Murakami

doi:10.1109/AIM.2007.4412484

Power-assist control of an electric wheelchair considering step passage

Sakiko Tashiro, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOIs	https://doi.org/10.1109/AIM.2007.4412484
Publication status	Published - 2007 Dec 1
Event	2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland Duration: 2007 Sept 4 → 2007 Sept 7

Publication series

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

Other

Other	2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Country/Territory	Switzerland
City	Zurich
Period	07/9/4 → 07/9/7

Keywords

Power-assist control
Reaction torque estimation observer
Step passage
Wheelchair

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AIM.2007.4412484

Cite this

Power-assist control of an electric wheelchair considering step passage. / Tashiro, Sakiko; Murakami, Toshiyuki.
2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2007. 4412484 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tashiro, S & Murakami, T 2007, Power-assist control of an electric wheelchair considering step passage. in 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 4412484, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Zurich, Switzerland, 07/9/4. https://doi.org/10.1109/AIM.2007.4412484

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abstract = "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.",

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AB - 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.

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Power-assist control of an electric wheelchair considering step passage

Abstract

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Keywords

ASJC Scopus subject areas

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