Citation

Seki H, Sugimoto T, Tadakuma S. IEEJ transactions on industry applications 2006; 126(6): 764-770.

Copyright

(Copyright © 2006)

DOI

unavailable

PMID

unavailable

Abstract

This paper describes a novel straight road driving control scheme of power assisted wheelchair. 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. The straight driving can be prevented by the road conditions such as branches, grass and carpets because the right and left wheels drive independently. This paper proposes a straight road driving control system based on the disturbance torque estimation. The proposed system estimates the difference of the driving torque by disturbance torque observer and compensates to one side of the wheels. Some practical driving experiments on various road conditions show the effectiveness of the proposed control system.

Language: en

Keywords

Wheelchairs; Control systems; Man machine systems; Human rehabilitation engineering; Handicapped persons; Electric motors; Torque