PD-fuzzy Control of a Stair Climbing Wheelchair

Ghani, Nor Maniha Abdul; Nasir, Ahmad Nor Kasruddin; Hassan, Mohsen A.; Tokhi, M. O.

doi:10.1016/j.aasri.2013.10.004

Cited by 6 publications

(4 citation statements)

References 10 publications

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“…Also, Lopes et al [14] describe a proposed navigation system architecture, system mapping, and method of obstacle avoidance for the control of the electric wheelchair " Robchair. " In addition, several control methods used in mobile robotics [1,6,10] are applied in the field of controlling the electric wheelchair. A fuzzy controller was used for determining the robot motion to reach the target, to avoid obstacles, and to navigate.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy-EKF Controller for Intelligent Wheelchair Navigation

Njah

Jallouli

2016

Journal of Intelligent Systems

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The electric wheelchair gives more autonomy and facilitates movement for handicapped persons in the home or in a hospital. Among the problems faced by these persons are collision with obstacles, the doorway, the navigation in a hallway, and reaching the desired place. These problems are due to the difficult manipulation of an electric wheelchair, especially for persons with severe disabilities. Hence, we tried to add more functionality to the standard wheelchair in order to increase movement range, security, environment access, and comfort. In this context, we have developed an automatic control method for indoor navigation. The proposed control system is mounted on the electric wheelchair for the handicapped, developed in the research laboratory CEMLab (Control and Energy Management Laboratory-Tunisia). The proposed method is based on two fuzzy controllers that ensure target achievement and obstacle avoidance. Furthermore, an extended Kalman filter was used to provide precise measurements and more effective data fusion localization. In this paper, we present the simulation and experimental results of the wheelchair navigation system.

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Section: Introductionmentioning

confidence: 99%

Fuzzy-EKF Controller for Intelligent Wheelchair Navigation

Njah

Jallouli

2016

Journal of Intelligent Systems

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“…10 Several fuzzy-based control structures and methods were developed by Ghani et al to control a wheel clusterbased EPW-SC similar to the iBOT for stair climbing, with controls verified through simulations. [58][59][60][61][62][63] In addition, since the wheel cluster-based EPW-SC climbs one step at a time, the movement speed is constantly fluctuating, which results in the rider feeling uncomfortable. The complexity of its control is significantly higher than that of the track-based EPW-SC.…”

Section: Wheel Cluster-based Epw-scmentioning

confidence: 99%

“…The iBOT series EPW-SCs performed the feedback control to its COG position similar to the inverted pendulum control and laid a foundation of stable stair-climbing. 20,78 In the aspect of stability analysis and evaluation, Fang et al analyzed the stair-climbing stability of their wheel cluster-based EPW-SC and gave a simulation verification based on the usage of stability margin and the position analysis of the COG's projection point in the support polygon. 4 Yu et al proposed a tip over and slippage stability criterion for a variable geometry single-tracked EPW-SC based on the geometric model, the static model, and the track-stair interaction analysis, for partial tracked-based EPW-SCs.…”

Section: Cog Adjustment and Stability Evaluationmentioning

confidence: 99%

Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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As an autonomic and convenient assistance device for people with disabilities and the elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability have attracted great attention in the past two decades and some various electric-powered wheelchairs with stair-climbing were developed. By using the developed electric-powered wheelchairs with stair-climbing, many patients with walking difficulties are able to descend the stairs conveniently to participate in outdoor activities, which are beneficial to both their physical rehabilitation and mental health. In this article, a review of electric-powered wheelchair with stair-climbing current technology is given and its future tendency is discussed to inform electric-powered wheelchair with stair-climbing researchers in the development of more applicable and popular products. Firstly, the development history is reviewed and electric-powered wheelchairs with stair-climbing are classified based on an analysis of their stair-climbing mechanisms. The respective advantages and disadvantages of different types of electric-powered wheelchairs with stair-climbing are outlined for an overall comparison of the control method, cost of mechanical manufacture, energy consumption, and adaption to different stairs. Insights into the future direction of stability during stair-climbing are discussed as it is an important aspect common to all electric-powered wheelchairs with stairclimbing. Finally, a summary of electric-powered wheelchairs with stair-climbing discussed in this article is provided. As a special review to the electric-powered wheelchairs with stair-climbing, it can provide a comprehensive understanding of the current technology about electric-powered wheelchairs with stair-climbing and serve as a reference for the development of new electric-powered wheelchairs with stair-climbing.

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“…Wheelchairs with additional legs [4], some spoke wheels [5,6], step-climbing method by the dynamic control as the inverted pendulum [7,8], triangle frame with three wheels at the triangle vertices [9][10][11], and tracks on each side [12] have been proposed. The iBot wheelchair [13], which has the dynamic balancing functionality as an inverted pendulum, and Scaleve [14], which has additional tracks to climb over steps, have also been introduced.…”

Section: Introductionmentioning

confidence: 99%

Five-Wheeled Wheelchair with an Add-On Mechanism and Its Semiautomatic Step-Climbing and -Descending Function

Wada¹,

Munakata²

2017

Physical Disabilities - Therapeutic Implications

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In this chapter, we propose a novel add-on electric drive system for propelling a manual wheelchair on the floor together with an advanced function to climb and descend a step with no human support. The proposed add-on mechanism consists of an active-caster drive wheel and a reconfigurable link mechanism with a linear actuator to change the location of the drive wheel relative to a wheelchair. By attaching the mechanism to a manual wheelchair, we build a five-wheeled wheelchair. Since the drive wheel is attached on the back of the wheelchair, a risk of falling to the back is significantly reduced. To surmount a step with no help, we develop a step-climbing and -descending strategy by using the proposed wheelchair with a reconfigurable link mechanism. The five-wheel configuration guarantees a static stability of the wheelchair when some wheels are hovered from the ground. The function is used in step-climbing and -descending strategies to realize the transfer of a wheelchair user. In order to reduce the effort of a wheelchair user to control the complicated step surmount strategies, semiautomatic system is installed on the prototype wheelchair whose availability is verified through experiments.

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PD-fuzzy Control of a Stair Climbing Wheelchair

Cited by 6 publications

References 10 publications

Fuzzy-EKF Controller for Intelligent Wheelchair Navigation

Fuzzy-EKF Controller for Intelligent Wheelchair Navigation

Electric-powered wheelchair with stair-climbing ability

Five-Wheeled Wheelchair with an Add-On Mechanism and Its Semiautomatic Step-Climbing and -Descending Function

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