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Studies on Manipulability and Ride Comfort of Omni-directional Wheelchair

Research Project

Project/Area Number 14550250
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionGifu National College of Technology

Principal Investigator

KITAGAWA Hideo  Gifu National College of Technology, Dept. Electronic Control Engineering, Associate Professor, 電子制御工学科, 助教授 (80224955)

Co-Investigator(Kenkyū-buntansha) TERASHIMA Kazuhiko  Toyohashi University of Technology, Faculty of Engineering, Professor, 工学部, 教授 (60159043)
Project Period (FY) 2002 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 2003: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 2002: ¥2,200,000 (Direct Cost: ¥2,200,000)
KeywordsWheelchair / Rehabilitation / Robot / Omni-directional Movement / Haptic / Collision Avoidance / Sonar / Environment Recognition / ハプティックフィードバック / 快適性 / 固有振動数 / パワーアシスト / ファジィ推論
Research Abstract

The development of technology that facilitates the rehabilitation of people with severe and multiple handicaps in everyday life is desirable. An omni-directional wheelchair is highly maneuverable in narrow or crowded areas such as residences, offices and hospitals.
A motion control method for an omni-directional wheelchair was developed. A controller that considers patient comfort, and that has a simple structure, was designed and implemented. The effectiveness of the obtained controller was shown.
A power assist system for omni-directional transport wheelchairs considering both attendant's manipulability and rider's comfort was presented. The reference velocity of the omni-directional wheelchair was derived from attendant's input force. The first order lag controller, the direction estimator using fuzzy reasoning and the notch filter were adopted. The effectiveness of the control system was shown by experiments. Especially, manipulability of rotation was improved by using the direction estimator.
A novel method for the semi-autonomous control of an omni-directional wheelchair was developed. An algorithm for environmental map building has been established. Sensor readings have been translated to a probability of occupancy of each cell. A procedure has been established to create a complete map around the wheelchair that is drawn by means of the wheelchair's own motion. The stiffness in the input direction of the joystick has been calculated for the impedance control of the joystick.

Report

(3 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • Research Products

    (13 results)

All Other

All Publications (13 results)

  • [Publications] J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Haptic Feedback Control of Omni-directional Wheelchair Considering User's Comfort and Safety"Proc.35th Int.Symp.on Robotics, Paris. WE23 (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] K.Terashima, H.Kitagawa, T.Miyoshi, J.Urbano: "Frequency Shape Control of Omni-directional Wheelchair to Increase User's Comfort"Proc.IEEE 2004 Int.Conf.on Robotics and Automation, New Orleans. 3119-3124 (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] H.Kitagawa, K.Terashima, T.Miyoshi, J.Urbano: "Power Assist System for Omni-Directional Transport Wheelchair Using Fuzzy Reasoning"Proc.IEEE Conference on Control Applications, Taipei. ThA04-5 (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 北川秀夫, 別府達哉, 大野義則, 三好孝典, 寺嶋一彦: "全方向移動車椅子の乗り心地向上のための走行制御"日本ロボット学会誌. 22-7(掲載予定). (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Impedance Control for Safety and Comfortable Navigation of an Omni-directional Mobile Wheelchair"Proc.IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, Sendai. (Accepted). (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Haptic Feedback Control of Omni-directional Wheelchair Considering User's Comfort and Safety."Proc. 35th Int. Sym on Robotics. Paris. 23 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] K.Terashima, H.Kitagawa, T, Miyoshi.J.Urbano: "Frequency Shape Control of Omni-directional Wheelchair to Increase User's Comfort."Proc. IEEE 2004 Int. Conf. on Robotics and Automation. New Orleans. 3119-3124 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] H.Kitagawa, K.Terashima, T, Miyoshi, J.Urbano: "Power Assist System for Omni-Directional Transport Wheelchair Using Fuzzy Reasoning."Proc. IEEE Conference on Control Applications. Taipei. 4-5 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Impedance Control for Safety and Comfortable Navigation of an Omni-directional Mobile Wheelchair."Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Sendai(Accepted). (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] H.Kitagawa, T.Nishigaki, T, Miyoshi.K.Terashima: "Fuzzy Power Assist Control System for Omni-directional Transport Wheelchair."Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Sendai(Accepted). (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] K.Terashima, H.Kitagawa, T.Miyoshi, J.Urbano: "Freaqency Shape Control of Omni-directional Wheelchair to Increase User's Comfort"Proc.IEEE 2004 Int.Conf.on Robotics and Automation, New Orleans. ThE-13 (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Haptic Feedback Control of Omni-directional Wheelchair Considering User's Comfort and Safety"Proc.35th Int.Symp.on Robotics, Paris. WE23 (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] H.Kitagawa: "Motion Control of Omnidirectional Wheelchair considering Patient Comfort"Proc. 15th IFAC World Congress. T-Tu-E20 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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