Comparative study on different adaptation approaches concerning a sip and puff controller for a powered wheelchair
Comparative study on different adaptation approaches concerning a sip and puff controller for a powered wheelchair
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电动轮椅吸吸控制器不同适应方法的比较研究
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
É. Monacelli
中科院分区：
文献类型：
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作者：
I. Mougharbel;Racha El;H. Ghamlouch;É. Monacelli
先进的技术被用来克服驾驶电动轮椅的各种缺陷。四肢瘫痪是使用复杂而昂贵的接口来解决这个问题的情况之一。针对这种缺陷的一个有趣的解决方案是使用sip和puff接口。这是一种简单、廉价的方法，但它有两个重要的局限性，限制了它的实际应用。第一个是自由度的减少。第二个是在疲劳的驾驶过程中。为了使给定轨迹或未知轨迹的驱动力最小，本文提出了控制器参数的最优自适应方法。根据环境要求，可以静态地或动态地进行适应。通过对三种不同情况的仿真验证了控制器的有效性：1-定义了完整的路径，2-将路径划分为子路径，3-路径未知。前两种情况采用平均路径参数的方法，第三种情况采用模糊控制器。
Advance technologies are used to overcome a wide range of deficiencies for driving a powered wheelchair. Tetraplegia is one of the cases where complex and expensive interfaces are used for this issue. One interesting solution for this kind of deficiency consists of using a sip and puff interface. It is a simple and inexpensive method but it has two important limitations that restrict its practical use. The first one is in the reduced degree of freedom. The second one is in the tiring driving process. In order to minimize the driving effort for a given trajectory or for an unknown trajectory, this paper presents an optimal adaptation of the controller parameters. The adaptation could be done statically or dynamically according to the environment requirements. The controller is validated by means of simulations applied to three different cases: 1- the complete pathway is defined, 2- the pathway is divided to sub-paths and 3- the pathway is unknown. The first two cases are processed by means of averaging the pathway parameters and the third one by using a fuzzy controller.
通过智能驾驶辅助支持的操纵杆/头操纵杆控制自动轮椅
DOI：
10.1109/icorr.2009.5209506
发表时间：
2009
期刊：
2009 IEEE International Conference on Rehabilitation Robotics
影响因子：
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作者：
Röfer;Mandel
通讯作者：
Mandel