TY - GEN
T1 - Slope driving experiment of front drive type electric wheelchair with casters using yaw-rate compensation
AU - Zengin, Aydin Tarik
AU - Maruno, Yutaro
AU - Okajima, Hiroshi
AU - Matsunaga, Nobutomo
PY - 2012
Y1 - 2012
N2 - Electric-powered wheelchairs have been used as a convenient transport device for elderly and disabled. Recently, a front drive type electric wheelchair that is easy for a disabled person to climb on from a bed has been focused on. However, front-drive-type wheelchairs are hard to run straight and difficult to operate because their over-steering characteristic is strong owing to free casters. If the wheelchair can be driven by an easy control stick operation, it will be a comfortable function for disabled persons. In our previous study, we proposed a front-drive-type wheelchair control method which realizes comfortable functions, i.e. driving with easy stick operation like the traditional rear-drive-type wheelchair. The proposed control system uses ideal model of electric wheelchairs. By using our proposed method, the maneuverability can be improved for realizing easy stick operation. In this paper, we evaluate the effectiveness of our proposed method by simulations and experiments on a slope with electric-powered front-drive-type wheelchair. In particular, straight-ahead stability on slope is analyzed by human driving.
AB - Electric-powered wheelchairs have been used as a convenient transport device for elderly and disabled. Recently, a front drive type electric wheelchair that is easy for a disabled person to climb on from a bed has been focused on. However, front-drive-type wheelchairs are hard to run straight and difficult to operate because their over-steering characteristic is strong owing to free casters. If the wheelchair can be driven by an easy control stick operation, it will be a comfortable function for disabled persons. In our previous study, we proposed a front-drive-type wheelchair control method which realizes comfortable functions, i.e. driving with easy stick operation like the traditional rear-drive-type wheelchair. The proposed control system uses ideal model of electric wheelchairs. By using our proposed method, the maneuverability can be improved for realizing easy stick operation. In this paper, we evaluate the effectiveness of our proposed method by simulations and experiments on a slope with electric-powered front-drive-type wheelchair. In particular, straight-ahead stability on slope is analyzed by human driving.
KW - Direct yaw moment control
KW - Electrical wheelchair
KW - Free caster
KW - Front drive
KW - Over-steering
KW - Slope
KW - Slope control
UR - https://www.scopus.com/pages/publications/84872529736
M3 - Conference contribution
AN - SCOPUS:84872529736
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 2008
EP - 2013
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -