Dynamic modeling and control of wheel-chaired elliptical stepping exercise

Yahaya, Saiful Zaimy; Boudville, R.; Taib, Mohd Nasir; Hussain, Z.

doi:10.1109/iccsce.2012.6487142

Cited by 11 publications

(7 citation statements)

References 8 publications

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“…In this manner, by substituting Eqs. ( 13) in (17), the closedloop response of the external loop is expressed by…”

Section: Kinematic Controllermentioning

confidence: 99%

“…As an example, the trajectory tracking task can be severely a®ected by the change imposed to the wheelchair dynamics when it is carrying a person, as shown in Martins et al 16 Hence, some path-following control architectures already proposed in the literature have considered the inclusion of the dynamics of the wheelchair robots. 10,17 In such context, it is important to indicate that the mass center of the robotic wheelchair changes because of postural issues, limb amputations, or obesity. 18 When a social robot (a human-wheelchair system) navigates in a human-shared environment, it is supposed that it must respect social zones of human obstacles to improve its social acceptance.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Path-Following Control of a Wheelchair in Human-Shared Environments

Herrera

Robertí

Carelli

et al. 2018

Int. J. Human. Robot.

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This work presents the kinematic and dynamic modeling of a human–wheelchair system which considers that its center of mass is not located in the middle of the wheel’s axle. Furthermore, a novel motion controller is presented for a human–wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: a kinematic controller, and a dynamic controller that compensates the dynamics of the human–wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three different interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcoming many usual interference situations with human obstacles. A good performance of the path-following control is also verified.

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“…In this manner, by substituting Eqs. ( 13) in (17), the closedloop response of the external loop is expressed by…”

Section: Kinematic Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Path-Following Control of a Wheelchair in Human-Shared Environments

Herrera

Robertí

Carelli

et al. 2018

Int. J. Human. Robot.

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“…Detail explanation on the model development and validation analysis was presented in [23]. The developed model is shown in Fig.…”

Section: A Ergometer Design Conceptmentioning

confidence: 99%

Design and simulation of wheel-chaired elliptical stepping exercise for stroke rehabilitation

Yahaya

Hussain

Boudville

2013

13th IEEE International Conference on BioInformatics and BioEngineering

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Stroke disease is one of the major killer diseases worldwide and most of the survivors will end with certain level of impairment. They commonly are wheelchair bounded and require scheduled rehabilitation exercise to regain their walking capability or mobility. This paper presents the design of elliptical stepping exercise ergometer for functional electrical stimulation (FES) assisted exercise. The concept of wheelchaired cycling and elliptical stepping had been adapted in producing the ergometer design. The dynamic simulation has been performed on Visual Nastran 4D and Matlab Simulink to evaluate the performance of the exercise that includes the exercise ergometer, humanoid model and quadriceps muscle model. In the simulation work, the paretic leg (left side) is driven via FES-assisted while the non-paretic leg (right side) is driven via controlled knee joint torque. The result shows that the FES-assisted elliptical stepping exercises with voluntary non-paretic movement contribute better cadence speed control. Further improvement on the controller design is required to make sure suitable FES pattern can be delivered and better cadence speed control can be achieved in simulation environment as well as real implementation.

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“…As an example, the trajectory tracking task can be severely affected by the change imposed to the wheelchair dynamics when it is carrying a person, as shown in [17]. Hence, some path following control architectures already proposed in the literature have considered the dynamics of the wheelchair robots [11,19].…”

Section: Introductionmentioning

confidence: 99%

Robust Control with Dynamic Compensation for Human-Wheelchair System

Andaluz

Canseco

Varela

et al. 2014

Intelligent Robotics and Applications

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This work presents the kinematic and dynamic modeling of a humanwheelchair system, and dynamic control to solve the path following problem. First it is proposed a dynamic modeling of the human-wheelchair system where it is considered that its mass center is not located at the center the wheels' axle of the wheelchair. Then, the design of the control algorithm is presented. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov's method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.

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Dynamic modeling and control of wheel-chaired elliptical stepping exercise

Cited by 11 publications

References 8 publications

Modeling and Path-Following Control of a Wheelchair in Human-Shared Environments

Modeling and Path-Following Control of a Wheelchair in Human-Shared Environments

Design and simulation of wheel-chaired elliptical stepping exercise for stroke rehabilitation

Robust Control with Dynamic Compensation for Human-Wheelchair System

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