Performance assessment of a pushrim-activated power-assisted wheelchair control system

Cooper, Rory A.; Corfman, T.A.; Fitzgerald, Shirley G.; Boninger, Michael L.; Spaeth, Donald M.; Ammer, William A; Arva, Julianna

doi:10.1109/87.974345

Cited by 137 publications

(50 citation statements)

References 13 publications

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“…This low mechanical efficiency, coupled with the high physical strain imposed on the movements of the user, may result in fatigue or even strain-induced injuries in the worst-case scenario [10][11][12]. As a result, the design and development of electric-powered wheelchairs (EPWs) or power-assisted wheelchairs has attracted increasing attention in recent decades [13][14].…”

Section: Introductionmentioning

confidence: 99%

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Design and development of solar power-assisted manual/electric wheelchair

et al. 2014

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Abstract-Wheelchairs are an essential assistive device for many individuals with injury or disability. Manual wheelchairs provide a relatively low-cost solution to the mobility needs of such individuals. Furthermore, they provide an effective means of improving the user's cardiopulmonary function and upperlimb muscle strength. However, manual wheelchairs have a gross loss of mechanical efficiency, and thus the risk of user fatigue and upper-limb injury is increased. Electric-powered wheelchairs reduce the risk of injury and provide a more convenient means of transportation. However, they have a large physical size and are relatively expensive. Accordingly, the present study utilizes a quality function deployment method to develop a wheelchair with a user-selectable manual/electric propulsion mode and an auxiliary solar power supply system. The auxiliary solar power supply increased the travel range of the wheelchair by approximately 26% compared with that of a wheelchair powered by battery alone. Moreover, the wheelchair has a modular design and can be disassembled and folded for ease of transportation or storage. Overall, the present results suggest that the proposed wheelchair provides an effective and convenient means of meeting the mobility needs of individuals with mobility difficulties.

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Section: Introductionmentioning

confidence: 99%

“…Wheelchairs that use a combination of human power and electric power have been developed recently, such as pushrim-activated power-assist wheelchairs (PAPAWs) [13][14]. The human power is delivered by the arms' action on the pushrims, while the electric power from a battery is delivered by an electric motors' torque.…”

Section: Introductionmentioning

confidence: 99%

Design and development of solar power-assisted manual/electric wheelchair

et al. 2014

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“…Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user [1][2][3][4][5]. This torque is then increased with the help of electrical motors.…”

Section: Introductionmentioning

confidence: 99%

“…A power assisted wheelchair [1] combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. The power assisted wheelchair is aimed at customers, who have used a regular wheelchair for a long time, but who have become weaker or just need additional power when driving uphill.…”

Section: Introductionmentioning

confidence: 99%

Torque Sensor Free Power Assisted Wheelchair

Petersson

Johansson

Holmberg

et al. 2007

2007 IEEE 10th International Conference on Rehabilitation Robotics

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Abstract-A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. This leads to rather expensive and clumsy constructions. A new design, which only relies on velocity feedback, thus avoiding the use of expensive force sensors in the pushrims, is proposed in this paper. The control design is based on a simple PD-structure with only two design parameters easily tuned to fit a certain user; one parameter is used to adjust the amplification of the user's force and the other one is used to change the lasting time of the propulsion influence. Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.

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“…There are two approaches for solving the above problem. One of the solutions is sensor fusion (5) (6) . In the conventional force control, much research has detected an external force by using force sensors.…”

Section: Introductionmentioning

confidence: 99%

Advanced Motion Control for Wheelchair Based on Environment Quarrier

Katsura

Ohnishi

2005

IEEJ Trans. IA

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MemberAn intelligent wheelchair for adaptation to unknown and/or unstructured environment is developed in this paper. In the motion control under open environment, it is necessary for a robot to adapt to interference from other systems and unknown environment. Since both of the human force and the external force from the environment are applied to a robot as a disturbance, it is difficult for a robot to decompose them into each mode.In order to solve the above problem, a novel force sensing method named "Environment Quarrier" is proposed in this paper. Two same types of robots are required and they are controlled in the same position, velocity and acceleration by bilateral control. One robot is in contact motion and the other is unconstrained. The gravity and the friction effects are identified by the disturbance observer. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one.The proposed method is applied for a power-assist wheelchair. An operationality of a human and adaptability to the environment are improved. Sensor-less force control based on the environment quarrier is one of the fundamental techniques for evolution of human-cooperative robots. The experimental results show viability of the proposed method.

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Performance assessment of a pushrim-activated power-assisted wheelchair control system

Cited by 137 publications

References 13 publications

Design and development of solar power-assisted manual/electric wheelchair

Design and development of solar power-assisted manual/electric wheelchair

Torque Sensor Free Power Assisted Wheelchair

Advanced Motion Control for Wheelchair Based on Environment Quarrier

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