Fuzzy power assist control system for omni-directional transport wheelchair

Kitagawa, Hideo; Nishigaki, Takahiro; Miyoshi, Takanori; Terashima, Kazuhiko

doi:10.1109/iros.2004.1389621

Cited by 16 publications

(18 citation statements)

References 5 publications

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“…Figure 2 shows the block diagram of power assist system presented in this paper. Second order lag filter is used for the transformation from force to velocity ( [9]). …”

Section: Omni-directional Wheelchairmentioning

confidence: 99%

“…For these attendants, a system that helps them to push the wheelchair and its occupant would be very convenient. Considering this background, a power assist system that helps attendants to move a heavy load has been designed and developed in author's laboratory [9]. Application of power assist for supporting the attendant of an omni-directional wheelchair is one of a novel research.…”

Section: Introductionmentioning

confidence: 99%

“…In the case of the OMW, in author's laboratory [9], a sixaxis force sensor is used for measuring the force applied by the attendant in two orthogonal axes, X and Y, and a rotational direction ω. Then, this force is changed to reference velocity V X , V Y and ω by using a first order lag filter.…”

Section: Introductionmentioning

confidence: 99%

“…It is because each person has its own tendencies and the fuzzy inference system must be tuned to respond to them. Tuning of the fuzzy inference system by trial and error thus has been tried in [9]. However it is a time consuming and needs a lot of trials of the attendants, then these can become tired and bored.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Neuro-fuzzy control of a power assist Omni-directional Wheelchair to enhance maneuverability

Urbano

Terashima

Kitagawa

2006

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006

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For helping attendants of handicapped people and elderly people, a power assist system has been added to an Omni-directional Wheelchair (OMW). With this addition it is possible for the attendants to deal with heavy loads, but there is a problem of operability when the attendants want to move the OMW laterally or rotate around OMW's Gravity Center (CG). In this paper, for solving this problem, a fuzzy reasoning method has been proposed for estimating the navigation direction according to the force added by the attendants to the handgrips of the handle of the OMW. A neuro-fuzzy system (ANFIS) is used for the tuning of the membership functions of the fuzzy system according to each attendant's characteristics, by using the input data of the attendants.

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“…Figure 2 shows the block diagram of power assist system presented in this paper. Second order lag filter is used for the transformation from force to velocity ( [9]). …”

Section: Omni-directional Wheelchairmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Neuro-fuzzy control of a power assist Omni-directional Wheelchair to enhance maneuverability

Urbano

Terashima

Kitagawa

2006

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006

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“…The breakthrough in power assist robot was incepted in early 1960s with "Man-amplifier" and "Hardiman" [2], but the progress of research on this significant field is not satisfactory yet. At present, power assist robots are designed mostly for the aged and disabled people and for rehabilitation purposes (e.g., [3]- [5]), and hence suitable power assist robots for carrying heavy objects in various industries are still demanding.…”

Section: Introductionmentioning

confidence: 99%

Control of a power assist robot for lifting objects based on human operator's perception of object weight

Rahman

Ikeura

Nobe

et al. 2009

RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication

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An object lifted with a power assist robot is always perceived lighter than its actual weight. But, the human operator cannot differentiate between the power assisted weight and the actual weight and eventually applies load force (vertical lifting force) according to the actual weight of the object. This faulty force programming (excessive load force) gives faulty motions to the power assist robot and jeopardizes its operability, maneuverability, ease of use, naturalness, human-friendliness, safety etc. In this paper we assume that these problems still exist with the power assist robots because human's weight perception is not included in the design and control of the conventional power assist robots .We hypothesize that human's perception of weight due to inertial force may be different from the perceived weight due to gravitational force for lifting object with a power assist robot. Based on this hypothesis, we designed a 1 DOF power assist robot and established a psychophysical relationship between the actual weights and the power assisted weights for the objects lifted with the robot. We also determined the excess of the load forces that humans applied. Then, we modified the control system of the power assist robot based on the psychophysical relationship and the load force characteristics. The modification of the control system reduced the peak load forces applied by humans and thus enhanced maneuverability, naturalness, ease of use, stability, safety etc. of the robot system significantly. Finally, we proposed using the findings to design human-friendly power assist robots for carrying heavy objects in various industries.

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DevelopmentofaTwo-Wheels CasterTypeof Odometer with a Dual Shaft for Omnidirectional Mobile Robots

Ushimi

Aoba

2012

Procedia Engineering

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Fuzzy power assist control system for omni-directional transport wheelchair

Cited by 16 publications

References 5 publications

Neuro-fuzzy control of a power assist Omni-directional Wheelchair to enhance maneuverability

Neuro-fuzzy control of a power assist Omni-directional Wheelchair to enhance maneuverability

Control of a power assist robot for lifting objects based on human operator's perception of object weight

DevelopmentofaTwo-Wheels CasterTypeof Odometer with a Dual Shaft for Omnidirectional Mobile Robots

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