2P1-I06 Trajectory Estimation Type Driving Control of Power-Assisted Wheelchair Using a Polynomial Model Based on User Characteristics

Abstract

Power-assisted wheelchairs are effective for the rehabilitation of handicapped people, however, the users with unbalanced force of right and left arms by injury or disease are difficult to drive as expected. Therefore, this paper proposes a drive control system that combines a fuzzy model and polynomial model to estimate the driving trajectory from the right and left pushing torque. The fuzzy model determines the appropriate operating input by estimating the user intention, and the driving trajectory is determined using polynomial model. Some simulation results are provided to show the effectiveness of the proposed driving control system.