2302 斜面横断時における電動車いすの直進走行システムII(OS7-1:福祉・バリアフリー,次世代交通システム,OS7:福祉・バリアフリー,次世代交通システム,オーガナイズド・セッション(OS),第18回交通・物流部門大会(TRANSLOG2009))

概要

論文の詳細を見る
Crossing slopes, electric wheelchairs deviate from their straight course under the influence of gravity. In order to keep traveling directions of the electric wheelchairs on slopes, the users must frequently operate input devices. This is a severe problem for the users who operate electric wheelchairs by switches. The switching devices are less smooth than the joysticks on veering. This research aims at reducing the operation strain on the slopes, and presents a system that guides the electric wheelchairs to run straight-ahead by only one operation. The proposed system has a feedforward controller and a feedback controller on the basis of posture angles of the electric wheelchairs. We mounted a prototype system on a ready-made electric wheelchair, and made a learning experiment on the system in a simulated environment.
2009-12-02