Straight and circular road driving control of power assisted wheelchair based on balanced assisted torque
Straight and circular road driving control of power assisted wheelchair based on balanced assisted torque
复制标题
基于平衡辅助扭矩的助力轮椅直行和环行道路驱动控制
DOI：
10.1109/iecon.2005.1568947
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
S. Tadakuma
中科院分区：
文献类型：
--
作者：
H. Seki;T. Sugimoto;S. Tadakuma
介绍了一种电动轮椅的直线和环形道路行驶控制方案。通过电动机辅助驱动力的动力辅助轮椅有望被广泛用作老年人和残疾人的移动支持系统，然而，由于两个车轮独立驱动，因此必须进一步提高直线和环形道路行驶的性能。提出了一种基于两轮助力扭矩平衡的直线和环形道路行驶控制方案。平衡的辅助扭矩由人输入到左右轮的扭矩的比例确定。实验和主观评价表明了该控制系统的有效性。
This paper describes a straight and circular road driving control scheme for power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels are driven independently. This paper proposes a straight and circular road driving control scheme based on the balanced assisted torque between the two wheels. The balanced assisted torque is determined from the proportion of the human input torque to the right and left wheels. Some experiments and subjective evaluation show the effectiveness of the proposed control system.