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Motion control of joystick interfaced electric wheelchair for improvement of safety and riding comfort

Title
Motion control of joystick interfaced electric wheelchair for improvement of safety and riding comfort
Authors
Choi, Jung HyunChung, YounghunOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2019-05
Citation
Mechatronics, 59, 104-114
Type
Article
Article Type
Article
Author Keywords
Electric wheelchairHall sensorJoystick operationKinematic Kalman FilterLocomotion modeYaw moment observer
Keywords
Body sensor networksControllersHall effect transducersMotion controlQuality controlState estimationElectric wheelchairHall sensorJoystick operationLocomotion modeYaw momentWheelchairs
ISSN
0957-4158
Abstract
Nowadays powered wheelchairs are widely utilized to help people's locomotion. However, many commercialized powered wheelchairs still provide unsatisfactory ride quality, which is mainly due to not-well-designed control algorithm. To address this issue, this paper proposes a motion control algorithm that can improve the safety and riding comfort of the user and can be easily implemented on a powered wheelchair. To design the controller in an intuitive way, locomotion mode of a wheelchair is suggested at first, which consists of the longitudinal mode and the rotational mode. Then, the motion reference generator, wheelchair motion observer and control algorithms are designed in this locomotion mode. Moreover, this locomotion mode-based motion control does not require encoders, which makes the implementation of the algorithm affordable for many commercialized wheelchairs. The detail of the controller and state observer is studied, and experimental results to verify the validity of the proposed controller and the state observer are explained. © 2019 Elsevier Ltd
URI
http://hdl.handle.net/20.500.11750/9898
DOI
10.1016/j.mechatronics.2019.03.005
Publisher
Elsevier Ltd
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles


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