User-Friendly Acceleration/Deceleration Control of Electric-Powered Wheelchair

Toru Oshima; Noboru Momose

doi:10.20965/jrm.2006.p0018

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JRM Vol.18 No.1 pp. 18-25

doi: 10.20965/jrm.2006.p0018

(2006)

Paper:

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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

Received:

March 18, 2005

Accepted:

August 30, 2005

Published:

February 20, 2006

Keywords:

electric-powered wheelchair, riding comfort, modeling, state variable feedback control, user-friendly

Abstract

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.

Cite this article as:

T. Oshima and N. Momose, “User-Friendly Acceleration/Deceleration Control of Electric-Powered Wheelchair,” J. Robot. Mechatron., Vol.18 No.1, pp. 18-25, 2006.

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References

[1] R. A. Cooper, “Rehabilitation Engineering Applied to Mobility and Manipulation,” Institute of Physics Publishing, pp. 291-336, 1995.
[2] G. Stepan, “Nonlinear Dynamics of Joystick Controlled Machines,” Periodica Polytechnica Ser. Mech. Eng., 35, 1, pp. 89-90, 1991.
[3] 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).
[4] 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).
[5] 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.
[6] 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.
[7] 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.
[8] 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).
[9] 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.
[10] 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).
[11] 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 Internationa License.

[1] [1] R. A. Cooper, “Rehabilitation Engineering Applied to Mobility and Manipulation,” Institute of Physics Publishing, pp. 291-336, 1995.

[2] [2] G. Stepan, “Nonlinear Dynamics of Joystick Controlled Machines,” Periodica Polytechnica Ser. Mech. Eng., 35, 1, pp. 89-90, 1991.

[3] [3] 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).

[4] [4] 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).

[5] [5] 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.

[6] [6] 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.

[7] [7] 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.

[8] [8] 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).

[9] [9] 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.

[10] [10] 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).

[11] [11] J. Obara, K. Uchida, Y. Ueno, and K. Hatta, “Measurement of Human Body,” Japan Publication Service, pp. 64-66, 1992 (in Japanese).