Proposal of Human-friendly Motion Control and its Application to Wheelchair

Sehoon Oh; Naoki Hata; Yoichi Hori

doi:10.11499/sicep.2004.0_36_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_36_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Proposal of Human-friendly Motion Control and its Application to Wheelchair

*Sehoon Oh, Naoki Hata, Yoichi Hori

Author information

Keywords: human-friendly control, center-of-gravity observer, power-assisted wheelchair

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 36

Details

Abstract

We suggest requirements for the human-friendly control and a control design which satisfies some of those. For a demonstration of this human-friendly control, we adopt a power-assisted wheelchair and apply proposed control to it. We pick up two problems which happen in power-assisted wheelchair control by gravity, then propose solutions to each problem and try to establish the human-friendly control.

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