Step Passage Control of a Power-Assisted Wheelchair for a Caregiver
Tashiro, S.
Murakami, T.
Keio Univ., Yokohama;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: April 2008
Volume: 55,
Issue: 4
On page(s): 1715-1721
ISSN: 0278-0046
INSPEC Accession Number: 9920943
Digital Object Identifier: 10.1109/TIE.2008.917061
Current Version Published: 2008-04-04
Abstract
Various welfare devices have been developed by the influence of the population's aging society. They are required to support caregivers and cared-for people these days because the burden of the nursing care is increasing. A method to realize a caregiver's power-assist control for an electric wheelchair is proposed in this paper. This method enables power-assisted wheelchairs to adapt not only to flat roads but also to roads with steps. Instead of a force sensor, a reaction torque estimation observer is constructed to detect the human torque input into the wheelchair. An inclination sensor is used to detect the step and to determine the control method while passing over the step. Simulations and experiments were carried out to show the validity of the proposed method.
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