Sway suppression control to passenger with muscle weakness on electrical wheelchair

This paper gives an advanced driving control system considering sway suppression of a passenger on an electrical wheelchair. The proposed driving control system is constructed on virtual experiment with motion analysis. To suppress the sway of a passenger's posture, the wheelchair driving pattern is optimized using the passenger's posture model. In order to verify the effectiveness of the proposed control system, it is applied to carry the passenger with muscle weakness assuming disabled people by wheelchair in virtual experiment.