Development of Power-Assisted Attendant-Propelled Wheelchair.

Kakimoto, Akira; Matsuda, Hideo; Sekiguchi, Yukio

doi:10.2493/jjspe.65.1126

Cited by 12 publications

(2 citation statements)

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“…However, this device is not intuitive to use [ 3 ], and it is better to implement interfaces closer to those that people use daily to drive trolleys or similar systems, such as handlebars. Several robotic wheelchairs or trolleys have been developed with force and torque sensors embedded in the handlebar to register the force and torque exerted by the driver on it as control inputs [ 4 , 5 , 6 ]. The authors of this paper proposed the use of tactile sensors instead of force sensors for that purpose.…”

Section: Introductionmentioning

confidence: 99%

Assistive Handlebar Based on Tactile Sensors: Control Inputs and Human Factors

Trujillo-León

Bachta

Castellanos-Ramos

et al. 2018

Sensors

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Tactile sensors can be used to build human-machine interfaces, for instance in isometric joysticks or handlebars. When used as input sensor device for control, questions arise related to the contact with the human, which involve ergonomic aspects. This paper focuses on the example application of driving a powered wheelchair as attendant. Since other proposals use force and torque sensors as control input variables, this paper explores the relationship between these variables and others obtained from the tactile sensor. For this purpose, a handlebar is instrumented with tactile sensors and a 6-axis force torque sensor. Several experiments are carried out with this handlebar mounted on a wheelchair and also fixed to a table. It is seen that it is possible to obtain variables well correlated with those provided by force and torque sensors. However, it is necessary to contemplate the influence of issues such as the gripping force of the human hand on the sensor or the different kinds of grasps due to different physical constitutions of humans and to the inherent random nature of the grasp. Moreover, it is seen that a first step is necessary where the contact with the hands has to stabilize, and its characteristics and settle time are obtained.

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Section: Introductionmentioning

confidence: 99%

Assistive Handlebar Based on Tactile Sensors: Control Inputs and Human Factors

Trujillo-León

Bachta

Castellanos-Ramos

et al. 2018

Sensors

View full text Add to dashboard Cite

show abstract

“…However, it does not contemplate steering and only simulations results are presented, so none sensor is proposed or evaluated to measure the input force. Kakimoto et al propose a prototype of a power-assisted attendant propelled wheelchair that detects the caregiver propulsion force through a force sensor placed on the shaft of the handling bar [12]. Although the impulsion force is reduced by 50 to 60%, the behavior is unstable under certain conditions.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of tactile sensors as an alternative to force sensors in an assistive haptic handlebar

Trujillo-León

Vidal‐Verdú

Bachta

2017

2017 IEEE Biomedical Circuits and Systems Conference (BioCAS)

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This paper shows experimental results that confirm that tactile sensors are appropriate to provide information about the caregiver intention in an assistive haptic handlebar. Preliminary tests have been performed to identify possible control inputs. Specifically, experiments have been carried out with a rear handlebar that incorporates tactile sensors and a force/torque sensor mounted on a powered wheelchair. An overall strong correlation is found between variables obtained from the tactile sensors output and those from the force/torque sensor that model the user interaction during driving. This way, an intuitive and easy driving can be achieved with a handlebar based exclusively on tactile sensors, which are a cost-effective alternative to force sensors.

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Novel straight and circular road driving control of electric power assisted wheelchair based on fuzzy algorithm

Seki

Tadakuma

2009

Electrical Engineering Japan

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SUMMARYThis paper describes a novel straight and circular road driving control scheme for electric power-assisted wheelchairs. "Electric power-assisted wheelchair" which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel driving control scheme based on fuzzy algorithm to realize stable and reliable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity of the wheelchair and the human input torque proportion of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.

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Development of Power-Assisted Attendant-Propelled Wheelchair.

Cited by 12 publications

References 0 publications

Assistive Handlebar Based on Tactile Sensors: Control Inputs and Human Factors

Assistive Handlebar Based on Tactile Sensors: Control Inputs and Human Factors

Evaluation of tactile sensors as an alternative to force sensors in an assistive haptic handlebar

Novel straight and circular road driving control of electric power assisted wheelchair based on fuzzy algorithm

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