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MOTION CONTROL OF OMNIDIRECTIONAL WHEELCHAIR CONSIDERING PATIENT COMFORT
Hideo Kitagawa* Tatsuya Beppu*
Tsunemitsu Kobayashi Kazuhiko Terashima*
* Dept. of Production Systems Engineering, Toyohashi*
University of Technology, Tenpaku-cho, Toyohashi,
441-8580, Japan
kita@m.icicc.org
In this paper, a novel motion control system for an omnidirectional wheelchair is proposed. In order to ensure a comfortable ride for the patient, the controller is designed using a hybrid shape approach that considers both time and frequency characteristics. The effectiveness of the proposed system is evaluated by the output signal of a sensor attached to the wheelchair and by a descriptive inspection by several users.
Keywords: Human-machine interface, Medical applications, Human-centered design, Mobile robots, Wheels
Session slot T-Tu-E20: Application of Robotics/Area code 1d : Robotics
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