Assistive motion control of cycling wheelchair based on investigation of load on user

Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

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

1 Citation (Scopus)

Abstract

Though several kinds of equipment such as wheelchairs and electrical wheelchairs exist to support lower limb disabilities, there were still problems because of disuse of lower limbs that limits effect of rehabilitation and also cause disuse syndrome. To overcome these problems, cycling-wheelchair was invented by Handa et al. It is a pedal-driven wheelchair and can be applied to most of the patients whose lower limbs could be bent. It is mainly used for rehabilitation in facilities that have plane floor and uphill with small angle. However, the device has a problem in everyday use, which it needs more force to travel through steeper uphill or level differences. In this paper, we conduct an investigation that targets lower limb disabilities and unimpaired persons to clarify the load on users when they overcome difficult environments by measuring tread force on pedals. The result showed that uphill costs the user large load that some of the users could not overcome the uphill. To overcome this situation, for the first step, we designed a travel-resistance compensation control for a cycling-wheelchair.

Original languageEnglish
Title of host publication2013 IEEE/SICE International Symposium on System Integration, SII 2013
PublisherIEEE Computer Society
Pages418-423
Number of pages6
ISBN (Print)9781479926268
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe, Japan
Duration: 2013 Dec 152013 Dec 17

Publication series

Name2013 IEEE/SICE International Symposium on System Integration, SII 2013

Other

Other2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
Country/TerritoryJapan
CityKobe
Period13/12/1513/12/17

ASJC Scopus subject areas

  • Control and Systems Engineering

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