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

Access to Document

10.1109/AMC.2006.1631682

Cite this

@conference{f02d5b9850024c3588b24dc060e76168,

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

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.",

keywords = "Disturbance observer, Impedance control, Phase plane, Power-assisted wheelchair, Three-dimensional control",

author = "Sehoon Oh and Naoki Hata and Yoichi Hori",

year = "2006",

doi = "10.1109/AMC.2006.1631682",

language = "English",

pages = "344--349",

note = "9th IEEE International Workshop on Advanced Motion Control, 2006 ; Conference date: 27-03-2006 Through 29-03-2006",

}

TY - CONF

T1 - Integrated motion control of a wheelchair in the longitudinal, lateral and pitch directions

AU - Oh, Sehoon

AU - Hata, Naoki

AU - Hori, Yoichi

PY - 2006

Y1 - 2006

N2 - 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.

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.

KW - Disturbance observer

KW - Impedance control

KW - Phase plane

KW - Power-assisted wheelchair

KW - Three-dimensional control

UR - https://www.scopus.com/pages/publications/33751039291

U2 - 10.1109/AMC.2006.1631682

DO - 10.1109/AMC.2006.1631682

M3 - Paper

AN - SCOPUS:33751039291

SP - 344

EP - 349

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

Access to Document

Other files and links

Fingerprint

Cite this