One-Handed Driving Control System for Power-Assisted Wheelchairs Using Forearm EMG Signal

Abstract

Handicapped people who can only operate one pushrim of a self-operated wheelchair, such as hemiplegic patient and upper extremity amputees, are physically burdened by the need to correct the driving direction with their feet. This study proposes a control system of power-assisted wheelchairs to realize the desired driving in arbitrary direction with only one pushrim operation. The proposed system measures forearm EMG signals when the user grasps the pushrim while flexing or extending the wrist in accordance with the driving direction and estimates the target driving position by fuzzy inference using EMG signals and pushing torque. In addition, an operation training system to improve the EMG and pushrim operation proficiency is also introduced. Some detailed experimental verification including practical driving demonstrates the effectiveness of the proposed control system.