Neuro-fuzzy control of a power assist Omni-directional Wheelchair to enhance maneuverability

Author

Urbano, Juan ; Terashima, Kazuhiko ; Kitagawa, Hideo

Author_Institution

Dept. of Production Syst. Eng., Toyohashi Univ. of Technol.

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

939

Lastpage

946

Abstract

For helping attendants of handicapped people and elderly people, a power assist system has been added to an omni-directional wheelchair (OMW). With this addition it is possible for the attendants to deal with heavy loads, but there is a problem of operability when the attendants want to move the OMW laterally or rotate around OMW´s gravity center (CG). In this paper, for solving this problem, a fuzzy reasoning method has been proposed for estimating the navigation direction according to the force added by the attendants to the handgrips of the handle of the OMW. A neuro-fuzzy system (ANFIS) is used for the tuning of the membership functions of the fuzzy system according to each attendant´s characteristics, by using the input data of the attendants

Keywords

biomedical equipment; fuzzy control; fuzzy reasoning; handicapped aids; medical control systems; motion control; neurocontrollers; path planning; elderly people; fuzzy reasoning; handicapped people; maneuverability; navigation direction estimation; neurofuzzy control; power assist omnidirectional wheelchair; Arm; Character generation; Control systems; Force sensors; Fuzzy reasoning; Fuzzy systems; Gravity; Navigation; Senior citizens; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776771

Filename

4776771