DEVELOPMENT OF POWER ASSIST ON OMNI-DIRECTIONAL MOBILE WHEELCHAIR CONSIDERING OPERATIONALITY AND COMFORT

Juan Urbano, Kazuhiko Terashima, Takahiro Nishigaki, Takanori Miyoshi, Hideo Kitagawa

Abstract

In this paper, a power assist system of Omni-directional Mobile Wheelchair(OMW) for attendants aiming at the reduction of incidence by operation of attendants is presented. The OMW presented in this paper, has 3 degrees of freedom, so it is important to consider operationality. The control system must be developed considering both operationality and comfort. A Power assist controller using fuzzy reasoning is proposed to estimate the navigation direction for the force given by the attendant, and the necessity of parameter tuning in the membership functions is described according to the individual characteristics. Further, the second order lag controller which transforms the force given by the attendant into the velocity of OMW, is presented to develop the rider’s comfort.

References

  1. H. Maeda, S. Fujiwara, H. K. and Yamashita, H. (2000). Development of omni-directional cart with power assist system (in japanese). In Proc. 18th Annual Conf. of Robotics Society of Japan, 15, pp.1155-1156.
  2. H.Kitagawa, T.Nishigaki, T. and K.Terashima (2004). Fuzzy power assist control system for omnidirectional transport wheelchair. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and SystemsC1580- 1585.
  3. Pin, F. and Killough, S. (1994). A new family of omnidirectional and holonomic wheeled platforms for mobile robots. In IEEE Trans. Robot. Automat., pp. 480- 489.
  4. Urbano, J., Yang, Y., Terashima, K., Miyoshi, T., and Kitagawa, H. (2005). Navigation with comfort of omnidirectional wheelchair driven by joystick. In Proc. IFAC World Congress, (to be published).
  5. Wada, M. and Asada, H. (1999). Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs. In Proc. IEEE Trans. Robot. Automat, 15, pp. 978- 989.
  6. West, M. and Asada, H. (1992). Design of a holonomic omnidirectional vehicle. In Proc. IEEE Int. Conf. Robot. Automat., pp. 97-103.
Download


Paper Citation


in Harvard Style

Urbano J., Terashima K., Nishigaki T., Miyoshi T. and Kitagawa H. (2005). DEVELOPMENT OF POWER ASSIST ON OMNI-DIRECTIONAL MOBILE WHEELCHAIR CONSIDERING OPERATIONALITY AND COMFORT . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 211-217. DOI: 10.5220/0001172402110217


in Bibtex Style

@conference{icinco05,
author={Juan Urbano and Kazuhiko Terashima and Takahiro Nishigaki and Takanori Miyoshi and Hideo Kitagawa},
title={DEVELOPMENT OF POWER ASSIST ON OMNI-DIRECTIONAL MOBILE WHEELCHAIR CONSIDERING OPERATIONALITY AND COMFORT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={211-217},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001172402110217},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - DEVELOPMENT OF POWER ASSIST ON OMNI-DIRECTIONAL MOBILE WHEELCHAIR CONSIDERING OPERATIONALITY AND COMFORT
SN - 972-8865-30-9
AU - Urbano J.
AU - Terashima K.
AU - Nishigaki T.
AU - Miyoshi T.
AU - Kitagawa H.
PY - 2005
SP - 211
EP - 217
DO - 10.5220/0001172402110217