2012 Fiscal Year Final Research Report
A Study for High Functionality of Electric Wheelchair withRecognition of Driving Environment
| 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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| 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 |
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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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