Studies on Comfort for Patient and Attendant of Omni-directional Wheelchair

全向轮椅患者及护理人员舒适度研究

• 批准号: 17560239
• 负责人: KITAGAWA Hideo
• 金额: $ 1.41万
• 依托单位: Gifu National College of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2005
• 资助国家: 日本
• 起止时间: 2005 至 2006
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-17560239/
• 关键词: Wheelchair; Welfare; Robot; Omni-directional Movement; Power Assist; Fuzzy; Environment Recognition; Rehabilitation; ニューラルネットワーク; ハプティック; 衝突回避; 測域センサ

For aged or disabled people whose condition makes them unable to use mobility aids such as canes, crutched or walkers, wheelchairs can provide many benefits, such as maintaining mobility, continuing or broadening community and social activities, conserving strength and energy, and enhancing their general quality of life.A motion control method using Hybrid Shape Approach for an omni-directional wheelchair was developed. A controller that considers patient comfort, and that has a simple structure, was designed and implemented. The effectiveness of the obtained controller was shown by experiments.A power assist system for omni-directional transport wheelchairs considering both attendant's manipulability and rider's comfort was presented. The reference velocity of the omni-directional wheelchair was derived from attendant's input force. The first order lag controller, the direction estimator using fuzzy reasoning and the notch filter were adopted. The effectiveness of the control system was shown by experiments. Especially, manipulability of rotation was improved by using the direction estimator. The effectiveness of the obtained controller was evaluated by using Semantic Differential method.A novel method for the semiautonomous control of an omni-directional wheelchair was also developed. An algorithm for environmental map building has been established. Sensor readings have been translated to a probability of occupancy of each cell. A procedure has been established to create a complete map around the wheelchair that is drawn by means of the wheelchair's own motion. The stiffness in the input direction of the joystick has been calculated for the impedance control of the joystick.

针对老年人或残疾人无法使用拐杖、拐杖或步行器等辅助工具的情况，提出了一种基于混合形状方法的全方位轮椅运动控制方法。设计并实现了一种考虑患者舒适度、结构简单的控制器。通过实验验证了所设计控制器的有效性，提出了一种兼顾乘员可操作性和乘坐舒适性的全方位运输轮椅助力系统。全方位轮椅的参考速度是由服务员的输入力导出的。采用一阶滞后控制器、模糊推理方向估计器和陷波滤波器。实验证明了该控制系统的有效性。特别地，通过使用方向估计器，提高了旋转的可操作性。利用语义微分法对控制器的有效性进行了评估，并提出了一种新的全方位轮椅半自主控制方法。建立了一种环境地图生成算法。传感器读数已被转换为每个单元的占用概率。已经建立了一个程序，以创建一个完整的地图周围的轮椅是由轮椅的自己的运动。为了进行操纵杆的阻抗控制，计算了操纵杆输入方向的刚度。

项目成果

Development of Power Assist on Omni-directional Mobile Wheelchair Considering Operationality and Comfort.

考虑操作性和舒适性的全向移动轮椅助力装置的开发。

• 发表时间: 2005
• 期刊: Proe. 2nd Int. Conf. on Informatics in Control, Automation and Robotics
• 作者: J.Urbano;K.Terashima;H.Kitagawa;J.Urbano;K.Terashima;J.Urbano;J.Urbano
• 通讯作者: J.Urbano

Skill Assist Control of an Omni-directional Wheelchair by Means of Neuro-Fuzzy Systems.

通过神经模糊系统对全向轮椅进行技能辅助控制。

• 发表时间: 2006
• 期刊: Proe. 17th International Symposium on Mathematical Theory of Networks and Systems
• 作者: Watanabe;Kentaro;J.Urbano;J.Urbano;K.Terashima;J.Urbano
• 通讯作者: J.Urbano

Assistance for Users of Omni-directional Wheelchairs by Providing Haptic Information about Close Obstacles.

通过提供有关近距离障碍物的触觉信息来为全向轮椅的用户提供帮助。

• 发表时间: 2005
• 期刊: Proc. of SICE Annual Conference, Okayama
• 作者: J.Urbano;K.Terashima;H.Kitagawa;J.Urbano;K.Terashima;J.Urbano;J.Urbano;J.Urbano
• 通讯作者: J.Urbano

Assistance for Users of Omni-directional Wheelchairs by Providing Haptic Information about Close Obstables.

通过提供有关近距离障碍物的触觉信息来为全向轮椅的使用者提供帮助。

• 发表时间: 2005
• 期刊: Proc.of SICE Annual Conference, Okayama
• 作者: J.Urbano;K.Terashima;T.Miyoshi;H.Kitagawa;J.Urbano
• 通讯作者: J.Urbano

Neuro-Fuzzy Control of a Power Assist Omni-directional Wheelchair to Enhance Maneuverability.

助力全向轮椅的神经模糊控制可增强可操作性。

• 发表时间: 2006
• 期刊: Proc. IEEE Conference on Control Applications
• 作者: Watanabe;Kentaro;J.Urbano;J.Urbano
• 通讯作者: J.Urbano