Power assist system for omni-directional transport wheelchair using fuzzy reasoning

Author

Kitagawa, Hideo ; Terashima, Kazuhiko ; Miyoshi, Takanori ; Urbano, Juan ; Nishisaka, S.

Author_Institution

Dept. of Electron. Control Eng., Gifu Nat. Coll. of Technol., Japan

Volume

1

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

123

Abstract

In the aged society, it has become more important than in the past to develop technologies for human assist. In this paper, a power assist system for the attendant of an omni-directional transport wheelchair is developed. The input force of the attendant is measured using a force sensor attached to the handle of the wheelchair. The desired motion of the wheelchair is estimated from the output signal of the force sensor using fuzzy reasoning. Then, it is transmitted to four motors of the wheelchair to make it move toward desired direction. The effectiveness of the proposed method is examined by experiments.

Keywords

electric motors; force sensors; fuzzy reasoning; geriatrics; handicapped aids; motion control; force sensor; fuzzy reasoning; human assist device; motion control; motors; omnidirectional transport wheelchair; power assist system; wheelchair motion estimation; Control engineering; Educational institutions; Force measurement; Force sensors; Fuzzy reasoning; Hospitals; Production systems; Vehicles; Wheelchairs; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387198

Filename

1387198