Integrated motion control of a wheelchair in the longitudinal, lateral and pitch directions

Sehoon Oh; Naoki Hata; Yoichi Hori

doi:10.1109/AMC.2006.1631682

Integrated motion control of a wheelchair in the longitudinal, lateral and pitch directions

Sehoon Oh, Naoki Hata, Yoichi Hori

Department of Robotics and Mechatronics Engineering

The University of Tokyo

Research output: Contribution to conference › Paper › peer-review

5 Scopus citations

Abstract

The motion of a wheelchair is different from any other vehicles. It needs controlling in the three dimensions: the longitudinal direction, the lateral direction, and the pitch direction. This paper provides this three-dimensional control of a wheelchair taking user's manipulation into considerations. A power-assisted wheelchair is the main target of this paper. Three controls for all directions are combined to provide excellent assistance to a user. To this end, for the longitudinal and lateral directions, disturbance attenuation control is designed. For the pitch direction, tip-over protection control is designed. Lastly, we demonstrate all these controls can work independently for each purpose.

Original language	English
Pages	344-349
Number of pages	6
DOIs	https://doi.org/10.1109/AMC.2006.1631682
State	Published - 2006
Event	9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey Duration: 27 Mar 2006 → 29 Mar 2006

Conference

Conference	9th IEEE International Workshop on Advanced Motion Control, 2006
Country/Territory	Turkey
City	Istanbul
Period	27/03/06 → 29/03/06

Keywords

Disturbance observer
Impedance control
Phase plane
Power-assisted wheelchair
Three-dimensional control

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10.1109/AMC.2006.1631682

Cite this

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abstract = "The motion of a wheelchair is different from any other vehicles. It needs controlling in the three dimensions: the longitudinal direction, the lateral direction, and the pitch direction. This paper provides this three-dimensional control of a wheelchair taking user's manipulation into considerations. A power-assisted wheelchair is the main target of this paper. Three controls for all directions are combined to provide excellent assistance to a user. To this end, for the longitudinal and lateral directions, disturbance attenuation control is designed. For the pitch direction, tip-over protection control is designed. Lastly, we demonstrate all these controls can work independently for each purpose.",

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AU - Hori, Yoichi

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AB - The motion of a wheelchair is different from any other vehicles. It needs controlling in the three dimensions: the longitudinal direction, the lateral direction, and the pitch direction. This paper provides this three-dimensional control of a wheelchair taking user's manipulation into considerations. A power-assisted wheelchair is the main target of this paper. Three controls for all directions are combined to provide excellent assistance to a user. To this end, for the longitudinal and lateral directions, disturbance attenuation control is designed. For the pitch direction, tip-over protection control is designed. Lastly, we demonstrate all these controls can work independently for each purpose.

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KW - Three-dimensional control

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T2 - 9th IEEE International Workshop on Advanced Motion Control, 2006

Y2 - 27 March 2006 through 29 March 2006

ER -

Integrated motion control of a wheelchair in the longitudinal, lateral and pitch directions

Abstract

Conference

Keywords

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