Torque balancing for power assisted wheelchair based on torque and temporal similarity

Heo, Yoon; Hong, Eung-Pyo; Mun, Mu Seong; Choi, Taeho

doi:10.1007/s12541-015-0227-6

Cited by 9 publications

(8 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, the strengths of both arms of wheelchair users are not generally equal, and it is not easy to generate well-balanced left and right torques. Therefore, a control method that can stably generate balanced torques from the uneven input torques of users is needed to maintain a stable driving direction for HAPAW [ 13 , 14 , 15 ].…”

Section: Methodsmentioning

confidence: 99%

“…To check if the torque sensor and driving wheel manufactured in this study are proper for applications in HAPAW, left and right input torques and time difference were used for the control method that adjusts the balance ratio so that it is suitable for driving straight and rotation [ 13 ]. Figure 6 shows the diagram of the control system used.…”

Section: Methodsmentioning

confidence: 99%

“…These satisfy 0.5 ≤ β ≤ 1 and [ 13 ]

and

are the directions of the balanced torques equivalent to those of the input torques. For example, the output torque reflects 50% of the opposite input torque when β in Equation (7) reaches 0.5, making it easy to drive straight.…”

Section: Methodsmentioning

confidence: 99%

“…Control methods to properly match user characteristics and road conditions are required because straight and rotating driving are the most basic driving performances. The mutual reference method, which refers left and right assist torques to the opposite propulsion torque, is used to solve this problem [ 13 , 14 , 15 ]. It is important in the mutual reference method to maintain rotational performance along with the improvement of straight performance.…”

Section: Introductionmentioning

confidence: 99%

“…After manufacturing a driving wheel prototype, torque measurement tests were conducted and it was confirmed that torques are similar to simulation values. A balancing algorithm that enhances straight and rotation driving performance by using input torques and their time differences [ 13 ] was used to check if the prototyped driving wheel could be applied in HAPAW by testing whether the input torque was balanced. Finally, the applicability of the designed driving wheel in HAPAW was confirmed.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A Study of a Handrim-Activated Power-Assist Wheelchair Based on a Non-Contact Torque Sensor

Nam¹,

Jang²,

Kim³

et al. 2016

Sensors

Self Cite

View full text Add to dashboard Cite

Demand for wheelchairs is increasing with growing numbers of aged and disabled persons. Manual wheelchairs are the most commonly used assistive device for mobility because they are convenient to transport. Manual wheelchairs have several advantages but are not easy to use for the elderly or those who lack muscular strength. Therefore, handrim-activated power-assist wheelchairs (HAPAW) that can aid driving power with a motor by detecting user driving intentions through the handrim are being researched. This research will be on HAPAW that judge user driving intentions by using non-contact torque sensors. To deliver the desired motion, which is sensed from handrim rotation relative to a fixed controller, a new driving wheel mechanism is designed by applying a non-contact torque sensor, and corresponding torques are simulated. Torques are measured by a driving wheel prototype and compared with simulation results. The HAPAW prototype was developed using the wheels and a driving control algorithm that uses left and right input torques and time differences are used to check if the non-contact torque sensor can distinguish users’ driving intentions. Through this procedure, it was confirmed that the proposed sensor can be used effectively in HAPAW.

show abstract

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

“…These satisfy 0.5 ≤ β ≤ 1 and [ 13 ]

and

Section: Methodsmentioning

confidence: 99%