DocumentCode :
2950526
Title :
Comfortable driving control for electric power-assisted wheelchair on disturbance road using fuzzy algorithm
Author :
Tanohata, Naoki ; Seki, Hirokazu
Author_Institution :
Dept. of Electr., Electron. & Comput. Eng., Chiba Inst. of Technol., Chiba, Japan
fYear :
2010
fDate :
26-29 Sept. 2010
Firstpage :
130
Lastpage :
135
Abstract :
This paper describes a novel driving control scheme of electric power-assisted wheelchairs for comfortable driving on various disturbance roads. “Electric power-assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people. However, the operators need to row the hand-rims with the larger power load on disturbance roads in order to obtain the enough driving velocity. For example, the wheelchair might move backward on uphill roads due to the driving torque shortage. Therefore, this study proposes fuzzy algorithm based assisted torque generation method in order to realize the comfortable driving for disturbance road. Fuzzy rules are designed from the integral value of the human input torque and driving velocity in order to improve the driving control on uphill and disturbance roads. Some driving experiments confirm the effectiveness of the proposed control system.
Keywords :
biomedical equipment; electric motors; fuzzy logic; handicapped aids; medical control systems; algorithm based assisted torque generation method; comfortable driving control; disabled people; disturbance road; driving control scheme; driving torque shortage; driving velocity; elderly people; electric motors; electric power-assisted wheelchair; hand-rims; human input torque; mobility support system; uphill road; Control systems; Fuzzy control; Humans; Roads; Torque; Wheelchairs; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
Conference_Location :
Tokyo
ISSN :
2155-1774
Print_ISBN :
978-1-4244-7708-1
Type :
conf
DOI :
10.1109/BIOROB.2010.5627749
Filename :
5627749
Link To Document :
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