Dynamic control of powered wheelchair with slip on an incline

Onyango, S.O.; Hamam, Yskandar; Djouani, Karim; Qi, Guoyuan

doi:10.1109/icastech.2009.5409711

Cited by 8 publications

(7 citation statements)

References 14 publications

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“…The use of developed dynamic models of various wheelchair operating conditions may simulate possible unstable wheelchair conditions that may occur. Two common wheelchair operating conditions implemented on the VS-1 augmented reality platform may be defined as wheelchair slipping [36] or tipping discussed in the next section.…”

Section: Vs-1 User's Simulated Visual Feedbackmentioning

confidence: 99%

Modelling and design of an augmented reality differential drive mobility aid in an enabled environment

Steyn

Hamam

Djouani

2015

Simulation Modelling Practice and Theory

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Section: Vs-1 User's Simulated Visual Feedbackmentioning

confidence: 99%

Modelling and design of an augmented reality differential drive mobility aid in an enabled environment

Steyn

Hamam

Djouani

2015

Simulation Modelling Practice and Theory

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“…where l(2) denotes the second element of the matrix. The general equation of motion (10) can then be transformed into a more appropriate form for control by including Equations (20) and (21). Since matrix S(q) spans the null space of A(q), multiplying the result by S T (q) eliminates the constraint forces, and produces a dynamic model in Equation (27) which takes the rolling friction and gravitational effects on the wheelchair into account:…”

Section: Frictional and Resistive Force Modelingmentioning

confidence: 99%

“…A dynamic model that takes the rolling friction as well as the up-hill and down-hill gravitational forces into consideration has been reported. [20][21][22] However, the authors did not consider the estimation of slipping parameters. The most recent study (to the best of the authors' knowledge) in this respect has been presented by Chénier et al 23,24 The study proposed a good dynamic model for manual wheelchair propulsion, usable by a new kind of motorized roller ergometer to simulate the behavior of a wheelchair on both straight and curvilinear level ground paths.…”

Section: Introductionmentioning

confidence: 99%

Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces

et al. 2016

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Wheelchairs are broadly accepted and are widespread because of the assistance they provide to people with limited mobility. The design of a good controller generally involves the formulation of a comprehensive wheelchair model. Most dynamic models in the literature presume non-inclined planer surfaces within-doors, and therefore fail to take the combined effects of both gravitational forces and rolling friction on the usable-traction into consideration. Wheel-slip situations are also commonly neglected. This paper contributes to wheelchair modeling by proposing and formulating a dynamic model that considers the effects of rolling friction and gravitational potential on the wheelchair’s road-load force, on both inclined and non-inclined surfaces. The dynamic model is derived through the Euler Lagrange procedure, and wheel slip is determined by an approach that reduces the convectional number of slip-detection encoders. In the closed-loop model, the input-output feedback controller is proposed for tracking the user inputs by torque compensation. The optimality of the resulting minimum-phase closed-loop system is then ensured through the performance index of the non-linear continuous-time generalized predictive control with good simulation results.

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“…The contrary to the previous assumption leads to nearly the same result. In previous work by the authors [2,4,6,7,8,9], the power 978-1-4244-7534-611 0/$26. 00 ©20 10 IEEE wheelchair and the required modification of the model to enhance its dynamic perfonnance has been studied in de tail.…”

Section: Introductionmentioning

confidence: 99%

Power wheelchair driver behaviour modelling

Emam

Hamam

Djouani

2010

2010 7th International Multi- Conference on Systems, Signals and Devices

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Assisting persons in their vehicle driving task is essential for drivers comfort and security. Vehicle Driver behaviour modelling is of main interest in order to provide assistive control. Many research teams have addressed this ques tion. This is even more important in the case of hand icapped persons. However, work in this domain is very scarce. The diversity of handicap situations renders the assistive vehicle control essential and needs more accurate modelling. In spite of their difficulties wheelchair control is not adapted to the individual need of handicapped persons. In this pa per a model is proposed to account for wheelchairs driver behaviour. This model is then tested on a wheelchair dy namic model. This model is intended to help analysing the driver's capacity as well as for the development of per sonalised wheelchair controllers that take into account the driver's handicap situation.

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Dynamic control of powered wheelchair with slip on an incline

Cited by 8 publications

References 14 publications

Modelling and design of an augmented reality differential drive mobility aid in an enabled environment

Modelling and design of an augmented reality differential drive mobility aid in an enabled environment

Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces

Power wheelchair driver behaviour modelling

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