User-Friendly Acceleration/Deceleration Control of Electric-Powered Wheelchair
Toru Oshima, and Noboru Momose
Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, 5180 Kurogawa, Imizu, Toyama 939-0398, Japan
Even slight differences in the movement of an electric-powered wheelchair may greatly affect riding comfort for wheelchair users. We focused on upper body tilt during acceleration and deceleration, a factor determining riding comfort and propose controlling tilt to control a user-friendly electric-powered wheelchair. We modeled the wheelchair and designed state variable feedback control with the upper body tilt angle and angular velocity of the upper body used as a state variable and an observer and an optimal regulator using Kalman filter for the presumption of the state variable. We assumed the state variable by the observer and state variable feedback control validated by the optimal regulator through computer simulation. We applied this control to the electric-powered wheelchair designed on a trial basis and indicated that upper body tilt could be suppressed by state variable feedback control.
-  R. A. Cooper, “Rehabilitation Engineering Applied to Mobility and Manipulation,” Institute of Physics Publishing, pp. 291-336, 1995.
-  G. Stepan, “Nonlinear Dynamics of Joystick Controlled Machines,” Periodica Polytechnica Ser. Mech. Eng., 35, 1, pp. 89-90, 1991.
-  F. Fujii, and K. Wada, “Control System Design for ‘Easy-to-manipulate’ Electrically Powered Wheelchair,” Transaction of The Japan Society of Mechanical Engineers, 66, 645, pp. 229-235, 2000 (in Japanese).
-  T. Oshima, and N. Momose, “A Method for Improvement of Joystick Operatability Considering with Stiffness,” Life Support, 12, 3, pp. 2-7, 2000 (in Japanese).
-  R. Simpson, E. L. Presti, S. Hayashi, I. Noubakhsh, and D. Miller, “The Smart Wheelchair Component system,” Journal of Rehabilitaion Research and Development, 41, 3B, pp. 429-442, 2004.
-  Y. Takahashi, T. Takagaki, J. Kishi, and Y. Ishii, “Back and Forward Moving Scheme of Front Wheel Raising for Inverse Pendulum,” Proceedings of the 2001 IEEE Conference on Robotics and Automation, pp. 21-26, 2001.
-  S. Oh, N. Hata, and Y. Hori, “Proposal of Human-friendly Motion Control and its Application to Wheelchair,” The Society of Instrument and Control Engineers Annual Conference 2004 Proceedings, pp. 2214-2219, 2004.
-  F. Fujii, and K.Wada, “Control System Design for the Electric Powered Wheelchairs with the Consideration of the Users’ Manipulability –Robust Controller Design with Pre-specified Performance Against Interval Matrix Uncertainties–,” Journal of the Robotic Society of Japan, 19, 6, pp. 760-765, 2001 (in Japanese).
-  S. Shimada, K. Ishimura, and M. Wada, “The Evaluation of Agreement Between Dynamics of Electric Wheelchair and Human Behavior,” Journal of Robotics and Mechatronics, Vol.16, No.4, pp. 434-442, 2004.
-  F. Wang, K. Sagawa, and H. Inooka, “A Study of the Relationship between the Longitudinal Acceleration / Deceleration of automobiles and ride comfort,” Japanese Journal of Ergonomics, 36, 4, pp. 191-199, 2000 (in Japanese).
-  J. Obara, K. Uchida, Y. Ueno, and K. Hatta, “Measurement of Human Body,” Japan Publication Service, pp. 64-66, 1992 (in Japanese).
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.