Skill Assist Neuro-Fuzzy Control of Omni-Directional Wheelchair for Attendants Considering Rotation
Skill Assist Neuro-Fuzzy Control of Omni-Directional Wheelchair for Attendants Considering Rotation
复制标题
考虑旋转的服务员全方位轮椅的技能辅助神经模糊控制
DOI：
10.3182/20080706-5-kr-1001.02555
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
H. Kitagawa
中科院分区：
文献类型：
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作者：
K. Terashima;Kaoru Watanabe;Yasumasa Kondo;T. Miyoshi;J. Urbano;S. Kitamura;H. Kitagawa
为了提高全向轮椅动力辅助系统的可操作性，该系统必须能够适应使用它的许多不同服务人员的个人特点。为了实现这一目标，开发了一种创新的人机界面，使用触摸面板，可以轻松输入和实时反馈电动辅助轮椅的操作信息。实验结果表明，该系统除了通过带有显示器的触摸屏系统提供人性化的界面外，还能成功地适应服务员的特定习惯。在此基础上，利用OMW的潜在优势和协调变换，提出了OMW旋转中心的控制方法。
Abstract For improving the operability of an omni-directional wheelchair provided with a power assist system, the system must be able to adapt to the individual characteristics of the many different attendants that will use it. For achieving this purpose, an innovative human-interface using a touch panel that provides easy input and feedback information in real time of the operation of a power-assisted wheelchair was developed. The system was tested experimentally with many different attendants and the results show that in addition to providing a human friendly interface by using the touch panel system with a monitor, the system can successfully adapt to the particular habits of the attendants. Furthermore, control of the rotation center of the OMW is proposed by making use of the OMW's potential advantage and coordination transformation.