操作者を含む電動車いす系の安定化制御(S64-2 生物医学工学における計測と制御(2),S64 生物医学工学における計測と制御)

概要

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Electric powered wheelchair users are increasing and the improvement of riding comfort is desired. The tilting of body at the time of acceleration and deceleration is one of factors related to the riding quality. In this study, a control system for reducing the body tilting of electric powered wheelchair was designed. A state feedback control using an optimal regulator and a Kalman filter as the state observer, which is based on a modeling of electric powered wheelchair system including the operator (h-EPW system: human-Electric Powered Wheelchair system), was adopted. The system is based on a model in which only forward and backward body tilting is considered. The body tilting in forward and backward directions was reduced even in turning of electric powered wheelchair, and it could turn conveniently. The control system is applied to the auxiliary power unit of wheelchair and the reduction effect of body tilting and its controllability was verified.
2004-09-04