JRM Vol.21 No.3 pp. 427-434
doi: 10.20965/jrm.2009.p0427


Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel

Kazuhiko Terashima*, Hideo Kitagawa**, Takanori Miyoshi*, Sou Kitamura*, and Juan Urbano*

*Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580, Japan

**Gifu National College of Technology
2236-2, Kamimakuwa, Motosu, Gifu 501-0495, Japan

May 3, 2008
April 2, 2009
June 20, 2009
wheelchair, omnidirectional vehicle, neuro, fuzzy, interface

An omnidirectional power-assist wheelchair must be adaptable to needs of individual attendants. We modified our neuro-fuzzy controller to improve diagonal movements. We also developed an innovative touch panel interface providing easy real-time input and feedback. Experiments confirmed the wheelchair’s adaptability to user needs.

Cite this article as:
Kazuhiko Terashima, Hideo Kitagawa, Takanori Miyoshi, Sou Kitamura, and Juan Urbano, “Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel,” J. Robot. Mechatron., Vol.21, No.3, pp. 427-434, 2009.
Data files:
  1. [1] M. West and H. Asada, “Design of a holonomic omnidirectional vehicle,” Proc. IEEE Int. Conf. Robot. Automat., pp. 97-103, 1992.
  2. [2] F. G. Pin and S. M. Killough, “A new family of omni-directional and holonomic wheeled platforms for mobile robots,” IEEE Trans. Robot. Automat., Vol.10, pp. 480-489, 1994.
  3. [3] E. Nakano and N. Koyachi, “An Advanced Mechanism of the Omni-Directional Vehicle (ODV) and Its Application to the Working Wheelchair for the Disabled,” Proc. ’83 ICAR Int. Conf. on Advanced Robotics, pp. 277-284, 1983.
  4. [4] M. Wada and H. Asada, “Design and Control of a Variable Footprint Mechanism for Holonomic Omnidirectional Vehicles and its Application to Wheelchairs,” Proc. IEEE Trans. Robot. Automat., Vol.15, No.6, pp. 978-989, 1999.
  5. [5] H. Kitagawa, T. Kobayashi, T. Beppu, and K. Terashima, “Semi-Autonomous Obstacle Avoidance of Omnidirectional Wheelchair by Joystick Impedance Control,” Proc. IEEE/RSJ Int. Symp. on Intelligent Robots and Systems, pp. 2148-2153, 2001.
  6. [6] H. Kitagawa, T. Beppu, T. Kobayashi, and K. Terashima, “Motion Control of Omnidirectional Wheelchair considering Patient Comfort,” Proc. IFAC World Congress, T-Tu-E20, 2002.
  7. [7] J. Urbano, H. Kitagawa, T. Miyoshi, and K. Terashima, “Collision Avoidance in an Omni-directional Wheelchair by using Haptic Feedback,” WSEAS Transactions on Systems, Vol.4(1), pp. 79-84, 2005.
  8. [8] H. Seki et al, “Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory,” IEEJ Trans. EIS, Vol.125(7), pp. 1133-1139, 2005 (in Japanese).
  9. [9] Frank Mobility Systems Inc.,, 2002.
  10. [10] H. Kitagawa, T. Nishigaki, T. Miyoshi, and K. Terashima, “Fuzzy Power Assist Control System for Omni-directional Transport Wheelchair,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1580-1585, 2004.
  11. [11] H. Maeda, S. Fujiwara, H. Kitano, and H. Yamashita, “Development of Omni-Directional Cart with Power Assist System”, Proc. 18th Annual Conf. of Robotics Society of Japan, pp. 1155-1156, 2000 (in Japanese).
  12. [12] J. Jang, “ANFIS: Adaptive-Network-Based Fuzzy Inference System,” IEEE Transactions on Systems, Man, and Cybernetics, Vol.23(3), pp. 665-685, 1993.
  13. [13] J. Urbano, K. Terashima, and H. Kitagawa, “Skill-Assist Control of an Omni-directional Wheelchair by Neuro-Fuzzy Systems using Attendants’ Force Input,” Int. J. of Innovative Computing, Information and Control, Vol.2(6), pp. 1219-1248, 2006.
  14. [14] C. F. Juang and C. T. Lin, “An On-Line Self-Constructing Neural Fuzzy Inference Network and Its Applications,” IEEE Transactions on Fuzzy Systems, Vol.6(1), pp. 12-32, 1998.
  15. [15] Y. Kondo, T. Miyoshi, K. Terashima, and H. Kitagawa, “Navigation Guidance Control Using Haptic Feedback for Obstacle Avoidance of Omni-directional Wheelchair,” Proc. 16th Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Vol.148, 2008.
  16. [16]

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 01, 2021