| Project/Area Number |
22500521
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Okayama University of Science |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
YOSHIDA Koji 岡山理科大学, 工学部, 教授 (00254433)
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 電動車いす / パワーアシスト / 走行環境 / 動的計測 / 適応制御 / ローコスト / 制御工学 / 機械力学・制御 / 計測工学 / システム工学 / システム同定 / 車いす / 制御系設計 |
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| Research Abstract |
The purpose of this study is to realize a high functionality of a power-assisted wheelchair with recognition of the driving environment. It is very important to recognize the driving environment in order to support wheelchair users and caregivers. In this study, various kinds of sensors are used to measure the state of the driving environment where is slope angle of uphill or downhill. This study deals with the estimation problem of slope angle with acceleration compensation based on low-cost sensors. And we also propose the adaptive control system design that is combined the dynamic estimation method of the slope angle. The proposed method estimate physical parameters that are mass of user and wheelchair, coefficient of rolling friction and coefficient of viscosity. Finally, the effectiveness of the proposed estimation method and the adaptive control design was confirmed by simulation and experimental results.
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