A New Control Method for Power-assisted Wheel Chair based on the Surface Myoelectric Signal

This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.

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Experimental evaluation for individual physical function of upper limb based on FEMS theory

Shimono

Ohkubo

Morito

et al. 2013

2013 IEEE Region 10 Humanitarian Technology Conference

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A New Control Method for Power-assisted Wheel Chair based on the Surface Myoelectric Signal

Cited by 3 publications

References 21 publications

Motion control of mobile robot by using myoelectric signals based on functionally different effective muscle theory

Motion control of mobile robot by using myoelectric signals based on functionally different effective muscle theory

Design method of variable compliance gain for force-based compliance controller

Experimental evaluation for individual physical function of upper limb based on FEMS theory

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