Proposal of human-friendly motion control: control design for power assistance tools and its application to wheelchair
Proposal of human-friendly motion control: control design for power assistance tools and its application to wheelchair
复制标题
人性化运动控制的提出：助力工具控制设计及其在轮椅上的应用
DOI：
10.1109/iecon.2004.1433350
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Y. Hori
中科院分区：
文献类型：
--
作者：
S. Oh;N. Hata;Y. Hori
在本文中，我们扩大了人性化的控制概念，这已被限制到机器人控制到一般的辅助控制。为了证明这种广义人性化控制，我们采用了一个动力辅助轮椅，并应用了一种新的控制，我们研究了这种广义人性化控制的一些要求，并提出了解决方案，我们的解决方案包括两个部分：一个是观察问题，另一个是控制问题。我们提出了两个问题，这发生在动力辅助轮椅的重力控制。第一个是与观察问题有关的向后下降的趋势，另一个是与控制问题有关的在山上推进的困难。我们对每个问题提出了解决方案，并将其推广，并试图建立人性化的控制。
In this paper, we expand the human-friendly control concept, which has been restricted only to the robot controls into general assistive controls. For a demonstration of this generalized human-friendly control, we adopt a power-assisted wheelchair and apply a novel control to it. We investigate some requirements for this generalized human-friendly control and suggest solutions to it. Our solution approach consists of two parts: one is on the observation problem; the other is on the control problem. We pick up two problems, which happen in power-assisted wheelchair control by gravity. The first is the tendency of falling backward that is related to the observation problem, and the other is the difficulty in propulsion on a hill that is related to the control problem. We propose solutions to each problem, generalize them, and try to establish the human-friendly control.