Experimental comparison of torque balance controllers for power-assisted wheelchair driving

Heo, Yoon; Hong, Eung-Pyo; Chang, Y C; Jeong, Bora; Mun, Mu Seong

doi:10.1016/j.measurement.2018.02.024

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…Additionally, ordinary manual and intelligent wheelchairs can be upgraded to power-assisted-control wheelchairs [15]. For wheelchair riders, Cooper et al of the University of Pittsburgh [16] proposed a manually activated form of assisted-powerdriven wheelchair that automatically controls the torque of the drive motor by adjusting the power output in proportion to the force applied by an occupant to the wheelchair spokes. This compensates for the deficiencies in ordinary wheelchairs that rely on pure human power.…”

Section: Introductionmentioning

confidence: 99%

Design of personal mobility system for assisted agricultural work with self-adjusting center of gravity

Jiang

Lee

2023

J Mech Sci Technol

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A personal mobility system with a self-adjusting center of gravity is designed to aid agricultural work. This personal mobility system can assist elderly and disabled people with mobility problems to perform simple agricultural tasks. Simulations and experiments were performed using a 2.5-times reduced model of the personal mobility system, and the feasibility and effectiveness of the proposed system were verified. With the initial position of the center of gravity of the personal mobility system as the set value, the proportional-integral-derivative control of the counterweight motion is coordinated horizontally using two corresponding motors and the center of gravity of the system is controlled within a certain range of the set value. The experimental transition time is 10.8 s and the simulated transition time is 10.4 s. The error between the two is 3.85 %. The results demonstrate that the proposed adaptive control system achieves adaptive adjustment of the center of gravity.

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Section: Introductionmentioning

confidence: 99%

Design of personal mobility system for assisted agricultural work with self-adjusting center of gravity

Jiang

Lee

2023

J Mech Sci Technol

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“…A frequently used feedforward strategy is the generation of an assistance torque proportional to the torque applied by the user (Guillon et al, 2015), but this torque amplification strategy may compromise handling of the wheelchair due to possible differences in the magnitudes of forces applied by the person's right and left arms on the pushrim (Heo et al, 2018). In order to provide an effective shared control system, Cooper et al (2002) propose a proportional feedforward control during the propulsion phase, a linear decay of assistance over time in the recovery phase, and a regenerative braking in case the maximum speed threshold is achieved.…”

Section: Introductionmentioning

confidence: 99%

“…The implementation of the impedance control strategy often requires the adoption of a reference model for the wheelchair system, which is almost invariably assumed as a linear first-order model composed of a lumped mass and a viscous damping. It is, indeed, a common practice to investigate and design assistance strategies for power-assisted wheelchairs on the basis of such simple mass-damper models (Chénier et al, 2014;Oh and Hori, 2014;Shieh et al, 2015;Lee et al, 2016;Heo et al, 2018). Such first-order models, however, neglect the dynamics associated with the cyclic motion of the arms and the biomechanics of the upper extremity, which may lead to substantial inaccuracies in representing the wheelchair-user system dynamics (Chénier et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Performance of Impedance Control-Based Strategies in Power-Assisted Wheelchairs: A Predictive Simulation Study

2022

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Manual wheelchair propulsion is known to be inefficient and causes upper extremity pain, fatigue, and injury. Power-assisted wheelchairs can mitigate these effects through motors that reduce users' effort and load during propulsion. Among the different control strategies proposed to govern the user-wheelchair interaction, impedance control-based ones appear to be the most natural and effective. It can change the apparent dynamical properties of the wheelchair, particularly mass and friction, and automatically compensate for external disturbances such as terrain conditions. This study investigates the advantages and disadvantages of this control strategy employing predictive simulations of locomotion with power-assisted wheelchairs in different scenarios. The simulations are generated using a biomechanically realistic model of the upper extremities and their interaction with the power-assisted wheelchair by solving an optimal control problem. Investigated scenarios include steady-state locomotion vs. a transient maneuver starting from rest, movement on a ramp vs. a level surface, and different choices of reference model parameters. The results reveal that the investigated impedance control-based strategy can effectively reproduce the reference model and reduce the user's effort, with a more significant effect of inertia in the transient maneuver and of friction in steady-state locomotion. However, the simulations also show that imposing a first-order, linear reference model with constant parameters can produce disadvantageous locomotion patterns, particularly in the recovery phase, leading to unnecessary energy dissipation and consequent increase in energy consumption from the batteries. These observations indicate there is room for improvement, for instance, by exploring energy regeneration in the recovery phase or by switching reference model nature or parameters along the cycle. To the best of our knowledge, this is the first investigation of impedance control-based strategies for power-assisted wheelchairs using predictive simulations and a realistic, nonlinear model of the user-wheelchair system.

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Comprehensive Control Strategy Design for a Wheelchair Power-Assist Device

Cornagliotto

Polito

Gastaldi

et al. 2023

Mechanisms and Machine Science

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Experimental comparison of torque balance controllers for power-assisted wheelchair driving

Cited by 4 publications

References 6 publications

Design of personal mobility system for assisted agricultural work with self-adjusting center of gravity

Design of personal mobility system for assisted agricultural work with self-adjusting center of gravity

Performance of Impedance Control-Based Strategies in Power-Assisted Wheelchairs: A Predictive Simulation Study

Comprehensive Control Strategy Design for a Wheelchair Power-Assist Device

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