Adaptive motion control law of a robotic wheelchair

Cruz, Celso De La; Bastos, Teodiano; Carelli, Ricardo

doi:10.1016/j.conengprac.2010.10.004

Cited by 38 publications

(23 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The vector θ was obtained through an identification experiment, which can be found in [18], and the values obtained were

\begin{matrix} θ_{1} = 0.4087, θ_{2} = 0.1925, \\ θ_{3} = 0.0047, θ_{4} = 1.0042, \\ θ_{5} = 0.0044, θ_{6} = 0.8744 . \end{matrix}

…”

Section: Methodsmentioning

confidence: 99%

“…The proposed system has three main parts: a VBI interface, an IMU interface, and fusion and control algorithms of the wheelchair ( Figure 1 ). More details about the wheelchair used can be found in [ 5 , 18 , 20 ].…”

Section: Methodsmentioning

confidence: 99%

“…By using specific control algorithms, the navigation results to be safer for the users. In fact, the approach of a complete assistance system is an improvement in the area, because some works that can be found in the literature focus their research only on one of two main areas: the interface with the user [ 12 – 15 ]; or the control system for autonomous navigation [ 16 – 18 ]. The first topics present different HCIs without ensuring a comfortable and safe navigation for the user, because the systems do not include control algorithms in order to avoid abrupt changes of velocity.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics

Pérez

López

Orosco

et al. 2013

The Scientific World Journal

View full text Add to dashboard Cite

This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user's head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user's head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.

show abstract

“…The vector θ was obtained through an identification experiment, which can be found in [18], and the values obtained were

\begin{matrix} θ_{1} = 0.4087, θ_{2} = 0.1925, \\ θ_{3} = 0.0047, θ_{4} = 1.0042, \\ θ_{5} = 0.0044, θ_{6} = 0.8744 . \end{matrix}

…”

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics

Pérez

López

Orosco

et al. 2013

The Scientific World Journal

View full text Add to dashboard Cite

show abstract

“…Several dynamic models that consider the user's body as steady and that include both accelerations were developed in the fields of robotics, as velocity controllers for electric wheelchairs (Shung et al 1983;Johnson and Aylor 1985;Wang et al 2009), or pathfollowing controllers for robotic wheelchairs (Coelho and Nunes 2005;Miyata et al 2008;De La Cruz et al 2010). However, to simplify the identification and control process of these dynamic models, the caster wheels were almost always removed and their contribution to the wheelchair's dynamics was instead considered as an external perturbation.…”

Section: Introductionmentioning

confidence: 99%

A new dynamic model of the wheelchair propulsion on straight and curvilinear level-ground paths

Chénier

Bigras

Aïssaoui

2014

Computer Methods in Biomechanics and Biomedical Engineering

View full text Add to dashboard Cite

Independent-roller ergometers (IREs) are commonly used to simulate the behaviour of a wheelchair propelled in a straight line. They cannot, however, simulate curvilinear propulsion. To this effect, a motorised wheelchair ergometer could be used, provided that a dynamic model of the wheelchair-user system propelled on straight and curvilinear paths (WSC) is available. In this article, we present such a WSC model, its parameter identification procedure and its prediction error. Ten healthy subjects propelled an instrumented wheelchair through a controlled path. Both IRE and WSC models estimated the rear wheels' velocities based on the users' propulsive moments. On curvilinear paths, the outward wheel shows root mean square (RMS) errors of 13% in an IRE vs 8% in a WSC. The inward wheel shows RMS errors of 21% in an IRE vs 11% in a WSC. Differences between both models are highly significant (p < 0.001). A wheelchair ergometer based on this new WSC model will be more accurate than a roller ergometer when simulating wheelchair propulsion in tight environments, where many turns are necessary.

show abstract

“…In 2011, Celso De La Cruz et al [20] have proposed an energetic model of a robotic wheel chair considering a lateral deviation of the center of mass. The Lyapunov and input/output stability theories were utilized to create a tracking and positioning adaptive control for the robotic wheel chair.…”

Section: International Journal Of Computer Applications (0975 -8887) mentioning

confidence: 99%

Optimizing the Performance Evaluation of Robotic Arms with the Aid of Genetic Algorithm

ShivaprakashReddy¹,

Perumal²,

Durgaprasad³

et al. 2012

IJCA

View full text Add to dashboard Cite

In recent decades, the robotic system is becoming more and more significant and this leads the humans to perform precarious tasks at secure distances. In this paper, we planned to improve the performance of robotic gear box. Like our human hand, the robot hands are utilized for performing various tasks. To facilitate the task, flexible robotic arms is necessary to improve the performance of robotic arm gear box. In existing research, only static parameters were considered to make the robotic arms as flexible but such parameter itself is not enough to obtain the optimized value for the gear box to perform. In order to attain the optimized value for the robotic arm gear box, we considered both dynamic and static parameters. By using such parameter values, the optimized value for the gear box is obtained, which result in better gear box performance. Thus, our proposed work fills the gap occurs in the existing works and this paves the way for obtaining flexible robotic arms. Our result obtained by considering various parameters has shown better performance than the existing works.

show abstract

Adaptive motion control law of a robotic wheelchair

Cited by 38 publications

References 18 publications

Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics

Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics

A new dynamic model of the wheelchair propulsion on straight and curvilinear level-ground paths

Optimizing the Performance Evaluation of Robotic Arms with the Aid of Genetic Algorithm

Contact Info

Product

Resources

About