Assistive Robotic Technologies for Next-Generation Smart Wheelchairs: Codesign and Modularity to Improve Users’ Quality of Life

Morbidi, Fabio; Devigne, Louise; Teodorescu, Catalin Stefan; Fraudet, Bastien; Leblong, Emilie; Carlson, Tom; Babel, Marie; Caron, Guillaume; Delmas, Sarah; Pasteau, François; Vailland, Guillaume; Gouranton, Valérie; Guégan, Sylvain; Breton, Ronan Le; Ragot, Nicolas

doi:10.1109/mra.2022.3178965

Cited by 8 publications

(3 citation statements)

References 30 publications

(44 reference statements)

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“…Due to the fact that the wheelchair would be used by diverse users, there exist time-varying uncertain parameters in the wheelchair dynamics (3). Therefore, the model ( 3) is reformulated in an LPV form as follows:…”

Section: B Problem Formulationmentioning

confidence: 99%

Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control

Yuan,

Wang,

et al. 2024

IEEE Trans. Cybern.

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Electric-powered wheelchairs play a vital role in ensuring accessibility for individuals with mobility impairments. The design of controllers for tracking tasks must prioritize the safety of wheelchair operation across various scenarios and for a diverse range of users. In this study, we propose a safetyoriented speed tracking control algorithm for wheelchair systems that accounts for external disturbances and uncertain parameters at the dynamic level. We employ a set-membership approach to estimate uncertain parameters online in deterministic sets. Additionally, we present a model predictive control scheme with real-time adaptation of the system model and controller parameters to ensure safety-related constraint satisfaction during the tracking process. This proposed controller effectively guides the wheelchair speed toward the desired reference while maintaining safety constraints. In cases where the reference is inadmissible and violates constraints, the controller can navigate the system to the vicinity of the nearest admissible reference. The efficiency of the proposed control scheme is demonstrated through highfidelity speed tracking results from two tasks involving both admissible and inadmissible references.

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Section: B Problem Formulationmentioning

confidence: 99%

Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control

Yuan,

Wang,

et al. 2024

IEEE Trans. Cybern.

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“…To solve the problem of stairs, many researchers have focused on developing stair-climbing vehicles, such as [ 9 , 10 , 11 , 12 ]. Podobnik et al developed an electronic wheelchair with a hybrid mechanism of wheels and tracked wheels as their entry into the Cybathlon competition, which promotes the development of advanced robotic devices for people with disabilities [ 9 ].…”

Section: Introductionmentioning

confidence: 99%

“…Considering situations when users carry or store the device, reducing device weight is key to removing the pain of using personal mobility devices. In addition, the above-described electric wheelchairs have been developed as assistive devices for empowering disabled people through robotic technologies, as represented by the study by Morbid et al [ 12 ]. In this study, we diverted those concepts and technologies to personal mobility devices for general users.…”

Section: Introductionmentioning

confidence: 99%

WeMo: A Prototype of a Wearable Mobility Device Adapting to User’s Natural Posture Changes

Chen,

Kuwahara,

Nishimura

et al. 2023

Sensors

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Mobility is fundamental for human beings. In the current society, many personal mobility solutions have been invented to enable more time-efficient mobility, such as self-balancing vehicles, electric unicycles, and electric scooters. Personal mobility devices can provide flexibility to transportation. However, most personal mobility devices need to be carried by their users in the case that they climb stairs and steps. Therefore, many researchers have focused on developing stair-climbing vehicles, but due to the complicated mechanism, these devices are usually huge and heavy. To realize a new type of personal mobility device with more flexibility, we proposed a novel concept of a personal mobility device design that combines the agile mobility of a wheel type mechanism but does not limit a human’s natural stair climbing ability. In this study, we introduced a compact personal mobility device, namely WeMo, under the concept of “wearing mobility”, which extends humans’ mobility in daily life. The developed hardware realizes “walking mode” and “driving mode”. Users can move with the motorized driven wheels of the device during driving mode, and users can walk on their feet without any interference from the device during walking mode. In this manuscript, the detailed design of the hardware and control strategy were explained first.Then, we conducted fundamental user tests and discussed the ability of the developed device from test results. Finally, the conclusions and future work were provided.

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Robot Following System Based on Convolutional Fast Sliding Window Approach for Motorized Wheelchair

Cao,

Li,

Zhang

et al. 2024

Lecture Notes in Electrical Engineering

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Assistive Robotic Technologies for Next-Generation Smart Wheelchairs: Codesign and Modularity to Improve Users’ Quality of Life

Cited by 8 publications

References 30 publications

Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control

Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control

WeMo: A Prototype of a Wearable Mobility Device Adapting to User’s Natural Posture Changes

Robot Following System Based on Convolutional Fast Sliding Window Approach for Motorized Wheelchair

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