2009年6月
姿勢角度を考慮したファジイアルゴリズムによる電動アシスト車椅子の操作性向上制御
電気学会論文誌C
- ,
- ,
- ,
- 巻
- 129-C
- 号
- 6
- 開始ページ
- 1077-1086
- 終了ページ
- 1086
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1541/ieejeiss.129.1077
- 出版者・発行元
- 電気学会
This paper describes a novel operationality improvement control for electric power assisted wheelchairs. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel operationality improvement control by fuzzy algorithm to realize the stable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity, the posture angle of the wheelchair, the human input torque proportion and the total human torque of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.
- リンク情報
- ID情報
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- DOI : 10.1541/ieejeiss.129.1077
- ISSN : 0385-4221
- CiNii Articles ID : 10024775580
- CiNii Books ID : AN10065950