Assistance control method for one-leg pedaling motion of a cycling wheelchair

Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Since The cycling wheelchair was introduced in The 2000s, we have focused on alleviating The over-use of healthy limbs That presents a problem To users. To This end, we have been developing assistance control for everyday users of cycling wheelchairs. In our previous research, we found That user load varies in different environments. Traveling resistance compensation control proved successful in counteracting in a range of environments. In The user-load investigation on cycling wheelchairs, The crank Torque generated by pedaling was observed To be problematic for hemiplegic patients, who must pedal mainly with Their healthy side. Futhermore, for patients able To bend one leg only, because The opposite limb is stiffened at The knee joint or physically absent, The cycling wheelchair is difficult To maneuver. This paper focuses on The crank Torque during one-leg-pedaling and proposes a new assistance control.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5606-5611
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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