System design consideration for digital wheelchair controller
Ruei-Xi Chen
Liang-Gee Chen
Lilin Chen
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Aug 2000
Volume: 47,
Issue: 4
On page(s): 898-907
ISSN: 0278-0046
References Cited: 16
CODEN: ITIED6
INSPEC Accession Number: 6685876
Digital Object Identifier: 10.1109/41.857970
Current Version Published: 2002-08-06
Abstract
The design and implementation of a digital wheelchair controller
system is presented in this paper. This novel model depicts an
information flow between the driving commands and wheel speed. A command
interpreter and two speed processing datapaths are proposed as
functionally independent blocks for the controller. The control process
consists of the following steps: command decoding, speed estimation, and
speed serving. Through proper partitioning to concurrent blocks, the
design complexity is reduced significantly. Block reconfiguration for
field-programmable gate array rapid prototyping is also employed in this
paper, and system fidelity and development efficiency are revealed
through the experimental results
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