Strategies for collision prevention of a compact powered wheelchair using SOKUIKI sensor and applying fuzzy theory

For example, there exist some wheelchair users, who cannot operate a powered wheelchair well by using a joystick, which is usual manipulation equipment of powered wheelchairs. A prototype of our group has simple manipulation equipment, constructed by buttons or levers. This operation equipment restricts the running performance of wheelchair. On the other hand, due to the restricted running performance, it is relatively easy to construct operation assist systems, which prevent collisions with obstacles and so on. In this study, the obstacle detection is mainly played by SOKUIKI sensors, which observe the front of the wheelchair. PSD sensors, which observe the side of the wheelchair, play an auxiliary role. We propose strategies for collision prevention using these obstacle observation equipments. Furthermore, we apply fuzzy theory, in order to improve comfortableness of wheelchair user.