Robotic wheelchair control considering user comfort

被引：0

作者：

Solea, Razvan ^{[1
]}

Nunes, Urbano ^{[1
]}

机构：

[1] Univ Coimbra, Dept Elect & Comp Engn, ISR, P-3030290 Coimbra, Portugal

来源：

ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1 | 2008年

关键词：

users comfort; sliding-mode control; human head-neck complex model; intelligent wheelchair;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.

引用

页码：37 / 44

页数：8

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