Absorption of ambiguous human motion on Human Body Motion Interface

This research focuses on the electric wheelchair controlled by Human Body Motion Interface (HBMI). HBMI uses the body motion which is caused by the voluntary motion. From our previous research, it has been confirmed that HBMI, which uses the center of weight on the pressure sensor attached on the backrest, has the ability of an interface. However the problem has also remained. The velocities of each wheel have determined based on the error between initial and current position of center of weight. When user tries to stop the wheelchair, user has to rigorously return the center of weight to the initial position. Therefore, if a slight error remains on the center of weight, the wheelchair is not able to stop exactly. This paper absorbs ambiguous human motion, and proposes the control scheme to prevent miss operation of wheelchair caused by slight variation of the center of weight.