Disturbance compensation control of power-assisted cycling wheelchair

Jun Kinugawa; Takaaki Kondo; Kazuhiro Kosuge

doi:10.1109/CBS.2017.8266124

Disturbance compensation control of power-assisted cycling wheelchair

Jun Kinugawa, Takaaki Kondo, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Cycling wheelchairs have been developed for the rehabilitation of those with walking difficulties. They are mainly designed for indoor use and are usually difficult to use out-doors because they got easily stacked. We proposed a system with a power assist function to enable safe outdoor use of cycling wheelchairs. In this paper, we described the disturbance compensation control to counter the running resistance during running of the cycling wheelchair, and summarize the evaluation results on pedaling torque, running time, and running path by an experiment.

Original language	English
Title of host publication	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	319-322
Number of pages	4
ISBN (Electronic)	9781538631942
DOIs	https://doi.org/10.1109/CBS.2017.8266124
Publication status	Published - 2017 Jul 2
Event	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, China Duration: 2017 Oct 17 → 2017 Oct 19

Publication series

Name	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Volume	2018-January

Other

Other	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Country	China
City	Beijing
Period	17/10/17 → 17/10/19

Keywords

cycling wheelchair
disturbance compensation
power-assisted

ASJC Scopus subject areas

Artificial Intelligence
Control and Optimization

Access to Document

10.1109/CBS.2017.8266124

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Kinugawa, J., Kondo, T., & Kosuge, K. (2017). Disturbance compensation control of power-assisted cycling wheelchair. In 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 (pp. 319-322). (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS.2017.8266124

Disturbance compensation control of power-assisted cycling wheelchair. / Kinugawa, Jun; Kondo, Takaaki; Kosuge, Kazuhiro.

2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 319-322 (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kinugawa, J, Kondo, T & Kosuge, K 2017, Disturbance compensation control of power-assisted cycling wheelchair. in 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 319-322, 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, Beijing, China, 17/10/17. https://doi.org/10.1109/CBS.2017.8266124

Kinugawa J, Kondo T, Kosuge K. Disturbance compensation control of power-assisted cycling wheelchair. In 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 319-322. (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017). https://doi.org/10.1109/CBS.2017.8266124

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