Fuzzy power assist control system for omni-directional transport wheelchair
Fuzzy power assist control system for omni-directional transport wheelchair
复制标题
全向运输轮椅模糊助力控制系统
DOI：
10.1109/iros.2004.1389621
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
K. Terashima
中科院分区：
文献类型：
--
作者：
H. Kitagawa;Takahiro Nishigaki;T. Miyoshi;K. Terashima
提出了一种新型的全方位运输轮椅辅助动力系统。使用连接到轮椅手柄的力传感器测量服务员的输入力。使用模糊推理从力传感器的输出信号估计轮椅的期望运动。然后，它被传输到轮椅的四个电机，使其朝着所需的方向移动。仿真和实验验证了该方法的有效性。
In this paper, a novel power assist system for the attendant of an omni-directional transport wheelchair is proposed. The input force of the attendant is measured using a force sensor attached to the handle of the wheelchair. The desired motion of the wheelchair is estimated from the output signal of the force sensor using fuzzy reasoning. Then, it is transmitted to four motors of the wheelchair to make it move toward the desired direction. The effectiveness of the proposed method is examined by simulations and experiments.