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Authors: Razvan Solea and Urbano Nunes

Affiliation: ISR - Institute of Systems and Robotics, University of Coimbra, Portugal

Keyword(s): Users comfort, sliding-mode control, human head-neck complex model, intelligent wheelchair.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.

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Paper citation in several formats:
Solea, R. and Nunes, U. (2008). ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 37-44. DOI: 10.5220/0001487100370044

@conference{icinco08,
author={Razvan Solea. and Urbano Nunes.},
title={ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={37-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001487100370044},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Solea, R.
AU - Nunes, U.
PY - 2008
SP - 37
EP - 44
DO - 10.5220/0001487100370044
PB - SciTePress

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