リード式入力装置を用いた介助犬による電動車椅子の誘導(G10-5 計測・制御,G10 機械力学・計測制御部門)

概要

論文の詳細を見る
We propose new types of guidance control method to let a wheelchair follow an assistance dog by detecting relative velocity and angle between them. In this guidance control method, electric wheelchair employs the guidance unit that is composed of a long lead and a winder on the tip of left armrest. The tip of the lead is connected with the harness worn to ah assistance dog. Hence, the lead is reeled out or in as the relative position is changing between the assistance dog in walk, the length and the direction angle of the lead are detected by two potentiometers in the guidance unit. Both translational signal and rotational signals used to control the electric wheelchair are generated by these two detected information. In this report, we described an opinion about an adjustment of the control system by some results of simulated experiment.
2004-09-04