TY - GEN
T1 - Development of an extended operational Kalman of power assist wheelchair
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2006
Y1 - 2006
N2 - An operational state observer for a wheelchair system we have proposed is extended to three dimensions. This new observer incorporates a 3-axis accelerometer allowing the user to estimate more precise information on conditions of hills for the lateral direction. First, a model dynamics illustrating the relationship between the gravity in the lateral direction and the motion of a wheelchair on a slope is derived enabling us to design a state observer that estimates the direction of the gravity. Experimental results verify our derivation of equations. Then, the derived dynamics is simplified and used in the design of the extended observer. Since the dynamics itself and the output of that have nonlinear characteristics, the extended Kalman filter design algorithm is employed. By simulation, the stability and effectiveness of the application is verified.
AB - An operational state observer for a wheelchair system we have proposed is extended to three dimensions. This new observer incorporates a 3-axis accelerometer allowing the user to estimate more precise information on conditions of hills for the lateral direction. First, a model dynamics illustrating the relationship between the gravity in the lateral direction and the motion of a wheelchair on a slope is derived enabling us to design a state observer that estimates the direction of the gravity. Experimental results verify our derivation of equations. Then, the derived dynamics is simplified and used in the design of the extended observer. Since the dynamics itself and the output of that have nonlinear characteristics, the extended Kalman filter design algorithm is employed. By simulation, the stability and effectiveness of the application is verified.
KW - 2-Dimensional effect of the gravity
KW - Extended Kalman filter
KW - Human friendly motion control
KW - Operational Kalman
KW - Wheelchair
UR - https://www.scopus.com/pages/publications/51349113958
U2 - 10.1109/ICIT.2006.372377
DO - 10.1109/ICIT.2006.372377
M3 - Conference contribution
AN - SCOPUS:51349113958
SN - 1424407265
SN - 9781424407262
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 358
EP - 363
BT - 2006 IEEE International Conference on Industrial Technology, ICIT
T2 - 2006 IEEE International Conference on Industrial Technology, ICIT
Y2 - 15 December 2006 through 17 December 2006
ER -