Power-Assisted Wheelchair With Gravity and Friction Compensation

Lee, Kyung-min; Lee, Chang-Hyuk; Hwang, Sung Hwan; Choi, Jiwon; Bang, Young-bong

doi:10.1109/tie.2016.2514357

Cited by 23 publications

(9 citation statements)

References 15 publications

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“…Various studies are being performed for HAPAW control [ 16 , 17 ], and the most basic control functions for a wheelchair are driving straight and rotation. A stabilized input torque must be applied to the left and right side handrims to maintain a constant driving direction.…”

Section: Methodsmentioning

confidence: 99%

A Study of a Handrim-Activated Power-Assist Wheelchair Based on a Non-Contact Torque Sensor

Nam¹,

Jang²,

Kim³

et al. 2016

Sensors

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Demand for wheelchairs is increasing with growing numbers of aged and disabled persons. Manual wheelchairs are the most commonly used assistive device for mobility because they are convenient to transport. Manual wheelchairs have several advantages but are not easy to use for the elderly or those who lack muscular strength. Therefore, handrim-activated power-assist wheelchairs (HAPAW) that can aid driving power with a motor by detecting user driving intentions through the handrim are being researched. This research will be on HAPAW that judge user driving intentions by using non-contact torque sensors. To deliver the desired motion, which is sensed from handrim rotation relative to a fixed controller, a new driving wheel mechanism is designed by applying a non-contact torque sensor, and corresponding torques are simulated. Torques are measured by a driving wheel prototype and compared with simulation results. The HAPAW prototype was developed using the wheels and a driving control algorithm that uses left and right input torques and time differences are used to check if the non-contact torque sensor can distinguish users’ driving intentions. Through this procedure, it was confirmed that the proposed sensor can be used effectively in HAPAW.

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Section: Methodsmentioning

confidence: 99%

A Study of a Handrim-Activated Power-Assist Wheelchair Based on a Non-Contact Torque Sensor

Nam¹,

Jang²,

Kim³

et al. 2016

Sensors

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show abstract

“…The literature reports a series of other control strategies for PAPAWs that range from reducing the effects of the environment on the dynamics of wheelchairs to the assistance in particular conditions and applications. Lee et al (2016), for instance, attempt to correct for the effects of gravity on ramps by introducing inclination sensors and requiring additional information such as user's mass. 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.…”

Section: Introductionmentioning

confidence: 99%

“…In fact, impedance control is a well-established technique to control the relationship between the movement kinematics and the force between robots and humans (Hogan, 1985) and is widely used in situations where the environment influences the controlled dynamic system, such as in exoskeletons (Li et al, 2017). Its application to power-assisted wheelchairs is investigated in different studies (Oh and Hori, 2014;Shieh et al, 2015;Lee et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

“…The implementation of the impedance control strategy often requires the adoption of a reference model for the wheelchair system, which is almost invariably assumed as a linear first-order model composed of a lumped mass and a viscous damping. It is, indeed, a common practice to investigate and design assistance strategies for power-assisted wheelchairs on the basis of such simple mass-damper models (Chénier et al, 2014;Oh and Hori, 2014;Shieh et al, 2015;Lee et al, 2016;Heo et al, 2018). Such first-order models, however, neglect the dynamics associated with the cyclic motion of the arms and the biomechanics of the upper extremity, which may lead to substantial inaccuracies in representing the wheelchair-user system dynamics (Chénier et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

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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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“…A detailed review of exoskeletons and their application is given in Chen et al 7 The most common approach toward independence is the use of a wheelchair. 8 In addition to traditional wheelchairs, some modern types of wheelchairs, include electrically powered wheelchairs and standing wheelchairs. Some of the commercially available standing wheelchairs include Permobil Ò , Corpus F5, and Levo C3 by Leviousa Ò .…”

Section: Introductionmentioning

confidence: 99%

Static force and tipover stability analysis of an assistive device for paraplegics

Abdullah

Kausar

Raza

et al. 2021

Proc Inst Mech Eng H

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Stability plays a vital role in any robotic system. Its significance increases in systems related to health and medicine. For rehabilitation devices meant for Spinal Cord Injury (SCI) patients, stability is crucial and key element in ensuring patient safety and the usefulness of the devices. In this study, kinematics, force analysis, and the static tip-over stability of a device for rehabilitation of paraplegic patients is discussed. Kinematics modeling and static force analysis provide critical information about position and loading at different points on the device. Force-Angle Stability Criterion is used to find the static tip-over stability of the device while the patient is on board the device. The Criterion relies on the support boundary, tip-over mode axes, and the Center of Mass (COM) of the complete system. The Criterion is sensitive to the COM position and therefore is more suitable for the application. The linear actuator mounted on the device causes the end effector of the device to move. The patient, strapped with the end effector, in turn moves from sitting position to standing position. The study focuses on the analysis of stability based on changing COM during this motion. The results verify that although the system is well within the stability bounds, it is more stable as it moves from sitting position to standing position.

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Power-Assisted Wheelchair With Gravity and Friction Compensation

Cited by 23 publications

References 15 publications

A Study of a Handrim-Activated Power-Assist Wheelchair Based on a Non-Contact Torque Sensor

A Study of a Handrim-Activated Power-Assist Wheelchair Based on a Non-Contact Torque Sensor

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

Static force and tipover stability analysis of an assistive device for paraplegics

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