TY - GEN
T1 - Yaw motion control of power-assisted wheelchairs under lateral disturbance environment
AU - Kim, Kayoung
AU - Nam, Kanghyun
AU - Oh, Sehoon
AU - Fujimoto, Hiroshi
AU - Hori, Yoichi
PY - 2011
Y1 - 2011
N2 - Wheelchairs are important devices for people with leg disabilities. There are many kinds of wheelchairs being developed to minimize injury while improve ease of operation. Power-assisted wheelchairs were developed for the same reason. However, due to effects of gravity, power assist alone is not sufficient to make movement on slopes easy. Lateral disturbances make the wheelchair's speed as well as direction unable to manage, which can cause accidents leading to injury. To overcome this problem, we propose yaw motion control of power-assisted wheelchairs. Using yaw motion control, a wheelchair would not be subjected to influence from lateral disturbance, and hence overall performance of the wheelchair would improve. To demonstrate the effectiveness of the yaw motion control, two kinds of experiments have been performed: going straight on the slope, and turning on the slope. Effectiveness of the proposed control system has been verified by experiments.
AB - Wheelchairs are important devices for people with leg disabilities. There are many kinds of wheelchairs being developed to minimize injury while improve ease of operation. Power-assisted wheelchairs were developed for the same reason. However, due to effects of gravity, power assist alone is not sufficient to make movement on slopes easy. Lateral disturbances make the wheelchair's speed as well as direction unable to manage, which can cause accidents leading to injury. To overcome this problem, we propose yaw motion control of power-assisted wheelchairs. Using yaw motion control, a wheelchair would not be subjected to influence from lateral disturbance, and hence overall performance of the wheelchair would improve. To demonstrate the effectiveness of the yaw motion control, two kinds of experiments have been performed: going straight on the slope, and turning on the slope. Effectiveness of the proposed control system has been verified by experiments.
UR - http://www.scopus.com/inward/record.url?scp=84863054663&partnerID=8YFLogxK
U2 - 10.1109/IECON.2011.6120007
DO - 10.1109/IECON.2011.6120007
M3 - Conference contribution
AN - SCOPUS:84863054663
SN - 9781612849720
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4256
EP - 4261
BT - Proceedings
T2 - 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Y2 - 7 November 2011 through 10 November 2011
ER -