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

Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5606-5611
ページ数6
ISBN(電子版)9781479936854, 9781479936854
DOI
出版ステータスPublished - 2014 9月 22
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
継続期間: 2014 5月 312014 6月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
国/地域China
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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