Steering assist system for a cycling wheelchair based on braking control

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

7 Citations (Scopus)

Abstract

In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system that is similar to a bicycle, and patients with impairment of their lower extremities can move the wheelchair based on the pedaling force if they can slightly move their legs by themselves. The user can also change the wheelchair direction using the steering handle. However, right and left turns are perceived differently and a large steering torque is required while operating the steering handle because of hardware problems associated with the cycling wheelchair. To overcome this problem, we propose a new hardware solution and a method for steering motion control using servo brakes for the cycling wheelchair. The proposed method is applied to the developed cycling wheelchair, and the experimental results illustrate the validity of the system.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages672-678
Number of pages7
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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