Novel Step Climbing Control for Power Assisted Wheelchair Based on Driving Mode Switching

Seki, Hiroko; Iijima, Takuya; Minakata, Hideaki; Tadakuma, Susumu

doi:10.1109/iecon.2006.347574

Cited by 29 publications

(5 citation statements)

References 6 publications

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“…効率的な移動手段などの観点から， Segway, P.U.M.A.や Mobiro などの倒立振子型移動体であるパーソナルモビリティ・ビークルの研究開発が盛んに行われている (1) ．倒立振子型移動体は小型で占有面積を小さくできることや旋回性に優れるなどの利点から，歩道や施設内など人が混在している環境における安全な移動や，近・中距離における効率的な移動手段として期待されている (2) ．その中でも Segway や P.U.M.A.は屋外での走行を想定しているため，斜面や段差などの様々な形状の路面を走破することが求められており，その際には，走行中に体勢を崩したり，転倒したりすることのない高い安全性が重要となる．段差乗り上げや斜面の走行における安全性や走破性に関して，電動車いす，自動車，車輪型移動ロボットなどの分野では多くの研究が行われている (3)- (6) ．電動アシスト車いすに関する研究 (3) では，段差乗り上げ時には転倒の危険があることから前輪乗り上げ時のモードと後輪乗り上げ時のモードの 2 つを設計し，これらを切り替えることで安全な段差乗り上げを実現している．また自動車 (4) や車輪型移動ロボット (5) x Ax …”

Section: 緒言unclassified

Modeling and Motion Analysis of a Mobile Inverted Pendulum Considering a Change of Slope Angle

Sugano

Yokoyama²,

Suzuki³

et al. 2013

Trans.JSME(C)

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A mobile inverted pendulum (MIP) draws attention as a next-generation energy saving vehicle especially for urban life because it is energy-efficient to transport a person and has a small footprint. It is important for the MIP to run safely on various types of roads. However, there are few studies on the MIP considering slopes or steps. We focus on a change of slope angle and aim to improve safety when the MIP runs on such a road. To achieve this goal, a simulation model of the MIP which runs on a road with a change of slope angle is constructed. This simulation model introduces constraint contact formulation to consider change of a contact point between the wheel and the ground. Motion of the MIP is analyzed when it runs up or down the road. The results of the analyses indicate differences of motion caused by running velocity and feedback gains. Based on the results, we show the existence of the feedback gain which has good controlled performance focusing on behavior of pendulum angle, acceleration of human body and running velocity, and the guideline of control system design considering running on a road with a change of slope angle.

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Section: 緒言unclassified

Modeling and Motion Analysis of a Mobile Inverted Pendulum Considering a Change of Slope Angle

Sugano

Yokoyama²,

Suzuki³

et al. 2013

Trans.JSME(C)

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“…Oonishi et al (2010), in turn, proposes the combined use of an electromyography-based estimator of user intention and a disturbance torque estimator to define the assistance torque. Assistance strategies are also proposed for special maneuvers such as steps climbing (Seki et al, 2006) and wheelie (Santos et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Performance of Impedance Control-Based Strategies in Power-Assisted Wheelchairs: A Predictive Simulation Study

2022

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Manual wheelchair propulsion is known to be inefficient and causes upper extremity pain, fatigue, and injury. Power-assisted wheelchairs can mitigate these effects through motors that reduce users' effort and load during propulsion. Among the different control strategies proposed to govern the user-wheelchair interaction, impedance control-based ones appear to be the most natural and effective. It can change the apparent dynamical properties of the wheelchair, particularly mass and friction, and automatically compensate for external disturbances such as terrain conditions. This study investigates the advantages and disadvantages of this control strategy employing predictive simulations of locomotion with power-assisted wheelchairs in different scenarios. The simulations are generated using a biomechanically realistic model of the upper extremities and their interaction with the power-assisted wheelchair by solving an optimal control problem. Investigated scenarios include steady-state locomotion vs. a transient maneuver starting from rest, movement on a ramp vs. a level surface, and different choices of reference model parameters. The results reveal that the investigated impedance control-based strategy can effectively reproduce the reference model and reduce the user's effort, with a more significant effect of inertia in the transient maneuver and of friction in steady-state locomotion. However, the simulations also show that imposing a first-order, linear reference model with constant parameters can produce disadvantageous locomotion patterns, particularly in the recovery phase, leading to unnecessary energy dissipation and consequent increase in energy consumption from the batteries. These observations indicate there is room for improvement, for instance, by exploring energy regeneration in the recovery phase or by switching reference model nature or parameters along the cycle. To the best of our knowledge, this is the first investigation of impedance control-based strategies for power-assisted wheelchairs using predictive simulations and a realistic, nonlinear model of the user-wheelchair system.

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“…About power assist wheelchair, there have been many researches which have tried to resolve some problems of wheelchair user by controlling the assisted torque. For example, method that considers step passages [1] or prevention of dangerous overturn of wheelchair [2] have been researched.…”

Section: Introductionmentioning

confidence: 99%

Power assist control of electric wheelchair using equivalent jerk disturbance under slope environment

Nomura

Murakami

2010

2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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With the aging of population in Japan, research of electric wheelchair for higher performance is getting more and more important. Power assist wheelchair is an example of electric wheelchair. Power assist wheelchair amplifies passengers maneuvering force, thus it is useful for elderly people who have weaker muscle force. And it is also helpful for aspect of health-maintenance because it requires using surviving ability of passenger. One big difficulty for wheelchair users is maneuvering in slope environment where gravity effect exists. In this research, "equivalent jerk disturbance" which is differential of estimated disturbance by observer is used for power assist control. Equivalent jerk disturbance is unaffected by gravity force, thus it is useful for wheelchair users to maneuver under slope environment.

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Novel Step Climbing Control for Power Assisted Wheelchair Based on Driving Mode Switching

Cited by 29 publications

References 6 publications

Modeling and Motion Analysis of a Mobile Inverted Pendulum Considering a Change of Slope Angle

Modeling and Motion Analysis of a Mobile Inverted Pendulum Considering a Change of Slope Angle

Performance of Impedance Control-Based Strategies in Power-Assisted Wheelchairs: A Predictive Simulation Study

Power assist control of electric wheelchair using equivalent jerk disturbance under slope environment

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