The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 2A1-01b5
Conference information

Inverted pendulum type wheelchair with the turning function by driver motion
Takuma DEGUCHIToshikazu OMORIKazuki UMEMOTOTadashi EGAMI
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract

Electric wheelchairs have been widely used by the elderly and care recipients. Since the wheelchairs require hand-operation, drivers cannot deal other tasks requiring their hands. It is preferable driver's hands is free for safety. Additionally it can get over a low level difference smoothly. In this study, an inverted pendulum type wheelchair is developed that enables turning based on sensing air pressure of the cushion, and back and forth movements by the motion of the driver without the hand-operation. Back and forth movements and rotational control systems for the wheelchair are designed using a disturbance observer.

Content from these authors
© 2016 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top