Multifunctional Control of a Two-Wheel Driven Wheelchair Considering Comfort of a Passenger
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- Kawamura Takuro
- Keio University
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- Murakami Toshiyuki
- Keio University
Bibliographic Information
- Other Title
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- 搭乗者の快適性を考慮した二輪駆動型車椅子の多機能化制御
- トウジョウシャ ノ カイテキセイ オ コウリョ シタ ニリン クドウガタ クルマイス ノ タキノウカ セイギョ
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Abstract
A wheelchair is a highly-popularized welfare device; however, it has two problems. One is low mobility, and the other is the difficulty faced while going over bumps. These problems are caused by the front casters. Recently, a two-wheel driven wheelchair with no casters was proposed. The aim of this research is to achieve the multifunctional control of the two-wheel driven wheelchair. In particular, this research focuses on the process of getting on and off and trajectory tracking control. Uprising and landing control are proposed in order to achieve the getting on and off motions efficiently. In addition, a variable command generation is proposed to improve comfort of a passenger. Furthermore, robust trajectory tracking control of the two-wheel driven wheelchair is proposed. The comfort of the passenger is improved by applying the proposed approaches.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 133 (4), 404-413, 2013
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204659924736
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- NII Article ID
- 10031161295
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 024577317
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed