Modeling and control on passenger posture behavior considering seat angle of electrical wheelchair

This paper presents a passenger posture behavior model that considers the seat angle and the comfortable driving control based on a proposed model. This model consists of a double inverted pendulum as the upper body and a cantilever as the thigh, and it has spring and damper elements in each joint. Moreover, the elements of the wheelchair´s seat and backrest are added to the model. The proposed model can represent passenger posture behavior as influenced by the inclination of the seat. The driving control system with sway suppression of passenger´s posture is designed by using the proposed model. The effectiveness of the proposed wheelchair driving control system is verified through simulation using a motion analysis simulator, MADYMO.