TY - GEN
T1 - Development of extended wheelchair operation observer to estimate precise two-dimensional tilt information
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2008
Y1 - 2008
N2 - An operation states observer for a wheelchair system is extended to three dimensions in this paper. This new observer incorporates a three-axis accelerometer allowing a user to estimate more precise information on terrain condition. To design this observer, first, a model dynamics illustrating the two-dimensional relationship between the gravity and the motion of a wheelchair on a slope is derived. Experimental results verify our derivation of equations. Then, the 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 operation states observer for a wheelchair system is extended to three dimensions in this paper. This new observer incorporates a three-axis accelerometer allowing a user to estimate more precise information on terrain condition. To design this observer, first, a model dynamics illustrating the two-dimensional relationship between the gravity and the motion of a wheelchair on a slope is derived. Experimental results verify our derivation of equations. Then, the 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 - Extended kalman filter
KW - Human friendly motion control
KW - Operation states observer
KW - Three-axis accelerometer
KW - Two-dimensional effect of the gravity
KW - Wheelchair
UR - https://www.scopus.com/pages/publications/44849095724
U2 - 10.1115/DETC2007-34409
DO - 10.1115/DETC2007-34409
M3 - Conference contribution
AN - SCOPUS:44849095724
SN - 0791848027
SN - 9780791848029
SN - 0791848051
SN - 9780791848050
T3 - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
SP - 13
EP - 20
BT - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
T2 - ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
Y2 - 4 September 2007 through 7 September 2007
ER -