Power-assist control of pushing task by repulsive compliance control in electric wheelchair

Tsuyoshi Shibata, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


This paper proposes a new power-assist control in pushing task as an intelligent function of wheelchair by repulsive compliance control. In this strategy, the reaction force of human input into object is estimated without torque/force sensor and is utilized to generate the power-assist torque for wheel driving. The proposed approach brings a sophisticated function that makes it easy to carry out pushing task by wheelchair rider. First, human acceleration estimation observer (HAOB) and workspace disturbance observer (WDOB) are employed. HAOB can abstract human input as equivalent acceleration without torque/force sensor. WDOB guarantees robustness of the whole control system against disturbances. Second, HAOB-based compliance control is constructed to generate the motion command of pushing task for power-assist control. The generated motion command is determined so that the wheelchair accelerates according to human input. From this point of view, the proposed control is called repulsive compliance control. The compliance control itself is passive control, and stable and flexible responses are expected. Simulations and experiments are conducted to confirm the validity of the proposed approach.

Original languageEnglish
Article number5754574
Pages (from-to)511-520
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 2012 Jan


  • Acceleration estimation observer
  • electric wheelchair
  • mobile robot
  • power assist
  • repulsive compliance control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Power-assist control of pushing task by repulsive compliance control in electric wheelchair'. Together they form a unique fingerprint.

Cite this