Skill-assist control of omnidirectional wheelchair using human-friendly interface

To improve the operability of a power-assist omnidirectional wheelchair driven by attendant, an improved neuro-fuzzy control system and an innovative human-interface using a touch panel was developed. The neuro-fuzzy controller was modified to improve the operability of diagonal motions. Moreover, the touch panel provides easy input and feedback information of the operation to adapt to the individual characteristics of different attendants in real time. The proposed system was tested experimentally with many attendants, and the experimental results show that the system can adapt successfully to the different tendencies of attendants.