| Project/Area Number |
25350696
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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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) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2013: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 計測工学 / システム工学 / システム同定 / 電動車いす / パワーアシスト / ジョイスティック / 力提示 / 車いす |
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| Outline of Final Research Achievements |
The purpose of this study is to establish the modeling and the control system design of an electric (power-assisted) wheelchair on the two-dimensional inclination. In this study, various kinds of sensors are used to measure the states of the driving environment where are slope angles of uphill (or downhill) and side-slope in order to support wheelchair users and caregivers. This study deals with the estimation problem of slope angles by using the extended Kalman filter. And, we also propose the adaptive control system design that is combined the dynamic estimation method of the slope angles. The effectiveness of the proposed estimation method and the adaptive control design was confirmed by simulation and experimental results. Finally, we also confirmed the effectiveness of the gravity compensation for an electric wheelchair with the force-feedback joystick on two-dimensional inclination.
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