Tailor-made modeling and sway control of human posture riding on electrical wheelchair for comfort driving

This paper gives an advanced driving control system that considers sway suppression of a passenger´s posture in an electrical wheelchair. We proposed a passenger model that considers the passenger´s physical frame and seating condition. The passenger´s seating condition is classified as upright, standard, or round-shouldered posture. The sway of a passenger with round-shouldered posture is smaller than that of a passenger with upright posture, and they can be represented by the proposed model. To suppress the sway of a wheelchair passenger´s posture, the wheelchair driving pattern is optimized using the proposed passenger´s posture model. The comfort of the passenger with respect to the proposed wheelchair driving is evaluated through experiments.