Proposal of human-friendly motion control - Control design for power assistance tools and its application to wheelchair

被引：0

作者：

Oh, S ^{[1
]}

Hata, N ^{[1
]}

Hori, Y ^{[1
]}

机构：

[1] Univ Tokyo, Dept Elect Engn, Tokyo 1538505, Japan

来源：

IECON 2004 - 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL. 1 | 2004年

关键词：

human-friendly control; gravity compensation; state observer; steady state Kalman filter; multisensor; two-degree-of-freedom control; power-assisted wheelchair; flexible disturbance attenuation; compliance control;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, we expand the human-friendly control concept which has been restricted only to the robot controls into general assistive controls. For a demonstration of this generalized human-friendly control, we adopt a power-assisted wheelchair and apply a novel control to it. We investigate some requirements for this generalized human-friendly control and suggest solutions to it. Our solution approach consists of two parts: one is on the observation problem, the other is on the control problem. We pick up two problems which happen in power-assisted wheelchair control by gravity. The first is the tendency of falling backward that is related to the observation problem, and the other is the difficulty in propulsion on a hill that is related to the control problem. We propose solutions to each problem, generalize them, and try to establish the human-friendly control.

引用

页码：436 / 441

页数：6

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