This paper describes a computer model of a wheelchair and its motor control circuitry. The model simulates the wheelchair’s motion in driving on a sloping surface, and is intended to facilitate the design of wheel velocity feedback controller. Experimental data are presented to partially validate the model.

This paper presents a wheelchair velocity feedback controller intended to reduce the control demands on a wheelchair driver in outdoor driving and in low speed maneuvering. A dynamic model of a wheelchair and its motor control circuitry is used in the controller design. A computer simulation study is conducted for the controller. The results indicate that the velocity feedback controller should make the chair easier to drive under varying road conditions.

No abstract

No abstract

No abstract