An approach to sensorless detection of human input torque and its application to power assist motion in electric wheelchair
An approach to sensorless detection of human input torque and its application to power assist motion in electric wheelchair
复制标题
人体输入扭矩的无传感器检测方法及其在电动轮椅助力运动中的应用
DOI：
10.1541/ieejias.126.137
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发表时间：
2006
影响因子：
--
通讯作者：
T. Murakami
中科院分区：
文献类型：
--
作者：
Yukiko Kaida;T. Murakami
本文提出了一种无传感器的人体力矩输入检测方法，即使在轮椅运行的条件下，有各种干扰，如摩擦，重力，或颠簸。在现代社会中，随着人口老龄化和婴儿出生率的下降，迫切需要发展医疗和福利设备。委员会感到关切的是，照料的负担太重。电动轮椅可以减轻使用者的身体负担，扩大使用者的活动范围，不仅可以帮助移动，还可以作为辅助康复的器具。以前的一些研究已经表明了电动轮椅的效率。但仍存在两个问题。首先，在以前的研究中，力传感器检测人的扭矩输入。我们可以只通过一个点来测量输入，如果它被使用的话。在易于操作者抓握的手轮辋驱动中，人的扭矩输入不能仅从一个点估计。但是力传感器不适合手轮驱动。第二，电动轮椅对正在衰退的操作者来说是危险的。通过对人类扭矩输入的无传感器检测，重力也将被估计为人类扭矩。因此，一个电动轮椅将运行鲁莽。本文将人的输入力矩视为干扰的一部分。首先，为了得到总的干扰转矩，使用反作用转矩估计观测器。估计的反作用扭矩表示为Eq.（一）.其中，τinit是与惯性矩阵的标称值的差，greac是反作用转矩估计观测器的增益。
This paper proposes the sensorless method of human torque input detection, even if a wheelchair runs under the condition that there is various disturbance, such as the friction, gravity, or bumps. In the modern society, as the population ages and fewer babies are born, the necessity for development of medical and welfare equipments is cried out. It is concerned that the burden of care gets too heavy. Power-assisted wheelchair can reduce the physical burden of the user and expand his range, and it is expected to not only help moving but also be used as apparatus for assistance of rehabilitation. Some previous studies have shown efficiency of power-assisted wheelchairs. But two problems are remained left. First, in previous research, the force sensor detects human torque input. We can measure the input through only one point, if it is used. In the hand-rim drive, which it is easy for the operator to grip, human torque input can’t be estimated from only one point. But a force sensor doesn’t suit with hand-rim drive. Secondly, a power-assisted wheelchair would be dangerous for the operator on the decline. With sensorless detection of human torque input, the force of gravity would be also estimated to be human torque. As the result, a power-assisted wheelchair would run recklessly. In this paper, the human input torque is regarded a part of disturbance. At first, to derive the total disturbance torque, reaction torque eatimation observer is used. Estimated reaction torque is represented as Eq. (1). Where τinit is difference with nominal value of an inertia matrix, and greac is gain of the reaction torque estimation observer.