Abstract
In this paper, we expand the human-friendly control concept which has been restricted only to the robot controls into general assistive controls. For a demonstration of this generalized human-friendly control, we adopt a power-assisted wheelchair and apply a novel control to it. We investigate some requirements for this generalized human-friendly control and suggest solutions to it. Our solution approach consists of two parts: one is on the observation problem, the other is on the control problem. We pick up two problems which happen in power-assisted wheelchair control by gravity. The first is the tendency of falling backward that is related to the observation problem, and the other is the difficulty in propulsion on a hill that is related to the control problem. We propose solutions to each problem, generalize them, and try to establish the human-friendly control.
| Original language | English |
|---|---|
| Pages | 831-836 |
| Number of pages | 6 |
| State | Published - 2004 |
| Event | SICE Annual Conference 2004 - Sapporo, Japan Duration: 4 Aug 2004 → 6 Aug 2004 |
Conference
| Conference | SICE Annual Conference 2004 |
|---|---|
| Country/Territory | Japan |
| City | Sapporo |
| Period | 4/08/04 → 6/08/04 |
Keywords
- Center-of-gravity observer
- Compliance control
- Flexible disturbance attenuation
- Gravity compensation
- Human-friendly control
- Power-assisted wheelchair
- Two-degree-of-freedom control