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Neuro-fuzzy control of a power assist Omni-directional Wheelchair to enhance maneuverability

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3 Author(s)
Urbano, J. ; Dept. of Production Syst. Eng., Toyohashi Univ. of Technol. ; Terashima, K. ; Kitagawa, H.

For helping attendants of handicapped people and elderly people, a power assist system has been added to an omni-directional wheelchair (OMW). With this addition it is possible for the attendants to deal with heavy loads, but there is a problem of operability when the attendants want to move the OMW laterally or rotate around OMW's gravity center (CG). In this paper, for solving this problem, a fuzzy reasoning method has been proposed for estimating the navigation direction according to the force added by the attendants to the handgrips of the handle of the OMW. A neuro-fuzzy system (ANFIS) is used for the tuning of the membership functions of the fuzzy system according to each attendant's characteristics, by using the input data of the attendants

Published in:

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Date of Conference:

4-6 Oct. 2006