Power steering and force display controls for a cycling wheelchair using servo brakes

Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli

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

3 Citations (Scopus)

Abstract

In this study, we present a new type of wheelchair called the cycling wheelchair, in which the user moves the wheelchair by pedaling with his/her legs and changes direction using a steering handle. This wheelchair has great potential not only as an effective rehabilitation device but also as a mobility assistive device. However, the commercially available model has several hardware limitations that affect the steering operation. In this paper, we discuss these hardware limitations before presenting methods for improving steering maneuverability. Furthermore, we propose power steering and force display controls based on environmental information. From the perspective of safety, we employ servo brakes to control the cycling wheelchair, and the assistive functions are realized based on the feasible braking control region. The proposed control methods are experimentally applied to a newly developed cycling wheelchair with servo brakes, and the results illustrate the validity of the control methods.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages613-618
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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