Proposal of human-friendly motion control and its application to wheelchair

被引：0
|
作者：
Oh, S [1 ]
Hata, N [1 ]
Hori, Y [1 ]
机构：
[1] Univ Tokyo, Tokyo 1538505, Japan
来源：
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3 | 2004年
关键词：
human-friendly control; gravity compensation; center-of-gravity observer; two-degreeof-freedom control; power-assisted wheelchair; flexible disturbance attenuation; compliance control;
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：
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.
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页码：2214 / 2219
页数：6
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