Development of Power Assisted Wheelchair with Consideration of Driving Environment

Dynamic Estimation of Driving Environment Based on Acceleration Compensation

Abstract

In the aged society, it is very important to develop technologies for human assist. This paper concerns the control of the power assist wheelchair with consideration of driving environment. The inclination sensors are necessary to control the wheelchair on the slope (driving environment). Since inclination sensors are implemented on the wheelchair, the acceleration of the wheelchair might influence the observed inclination angles in general. Therefore, this report proposes a dynamic measurement method for accurate estimation of the inclination angle considering the acceleration. The feasibility of the proposed estimation method is confirmed both by computer simulation and by experiment.