Balance control on automatic wearing/taking off pants system for people with upper limbs disability

People with the upper limbs disability have difficulties to wear/take off their clothes. In this paper, an automatic wearing/taking off pants system is designed to help them wear/take off their pants without other people's help. The automatic wearing/taking off pants system is developed by using microcontroller as the control core of the stand-alone system, two buttons as the input devices and three motor as the actuator. The traditional proportional and derivative (PD) control theory is utilized to control the motor speed and position. Test results showed that the average time needed to wear the pants in a cycle is around 26.2 seconds, while the average time to take off the pants in a cycle is around 23.4 seconds. Preliminary, the performance of the automatic wearing/taking off pants system has been proved to be feasible as expected.