New control method for power-assisted wheelchair based on upper extremity movement using surface myoelectric signal
New control method for power-assisted wheelchair based on upper extremity movement using surface myoelectric signal
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基于表面肌电信号上肢运动的助力轮椅新型控制方法
DOI：
10.1109/amc.2008.4516117
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Y. Hon
中科院分区：
文献类型：
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作者：
Y. Oonishi;Sehoon Oh;Y. Hon
本文设计了一种新型的助力轮椅控制器。传统的动力辅助控制器只关注使用扭矩传感器的人的输入力的放大。我们提出的控制器不使用扭矩传感器，但肌电图（EMG）传感器。所设计的控制器由肌电滤波模块、干扰观测器、方向判别函数和模糊控制器组成。我们通过肱三头肌和肱二头肌的肌电信号来判断驾驶员是想向前还是向后推进。然后，我们提供功率辅助相结合的滤波后的拇收肌电信号和估计的人体扭矩信号计算的干扰观测器。当驾驶者欲停止或减速时，控制器会侦测肌电信号的变化，并侦测辅助力矩的变化，以实现无振动的减速。实验结果表明，所提出的助力方法实现了根据驾驶员意愿的快速、平稳的助力。
In this paper, we design a new controller of power-assist wheelchair. Conventional power-assist controllers only focus on the amplification of the human input force using torque sensor. Our proposed controller does not use a torque sensor but an electromyogram(EMG) sensor. Our designed controller is composed of EMG filter block, disturbance observer, direction discrimination function and fuzzy controller. We estimate whether the driver wants to propel forward or backward by the EMG signal placed at the triceps brachii muscle and the biceps brachii muscle. Then we provide power assist by combining the filtered myoelectric signal of the adductor pollicis muscle and the estimated human torque signal calculated by the disturbance observer. If the driver wants to stop or decelerate the wheelchair, our designed controller detects the changes of EMG signal and step down assist torque and realize vibration-free speed reduction. Experimental results show that the proposed power-assist method realizes quick and smooth power assist according to the driver's will.
轮椅纵向、横向和俯仰方向的集成运动控制
DOI：
--
发表时间：
2008
期刊：
IEEE Trans. on Industrial Electronics Vol. 55 No. 4
影响因子：
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作者：
Sehoon Oh;Naoki Hata and Yoichi Hori
通讯作者：
Naoki Hata and Yoichi Hori
考虑驾驶员命令变化的电动汽车实时智能速度模式生成器
DOI：
--
发表时间：
2007
期刊：
WEVA (WOrld Electric Vehicle Association) Journal 1(CDROM)
影响因子：
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作者：
Yu Ogura;Atsuo Takankishi et al.;Li Zhao and Yoichi Hori
通讯作者：
Li Zhao and Yoichi Hori