DOI QR코드

DOI QR Code

힘 보조형 전동 휠체어를 위한 구동 의지 제어 시스템 개발

Development of the Driving-will Control System for a Power-assisted Electric Wheelchair

  • Kong, Jung-Shik (Department of Mechanical Design, Induk University) ;
  • Lee, Bo-Hee (Department of Electrical Engineering, Semyung University)
  • 투고 : 2012.02.03
  • 심사 : 2012.03.08
  • 발행 : 2012.03.31

초록

본 논문은 힘 보조형 휠체어에 있어 사용자의 구동 의지력을 측정하고 이를 통해 사용자의 구동 의지에 따른 휠체어 구동 제어를 수행할 수 있는 시스템 개발에 관한 논문이다. 최근 고령자의 증가에 따른 다양한 편의 기구가 증가되고 있으며 이에 따라 휠체어에 대한 관심이 증가되고 있다. 특히 힘 보조형 휠체어의 경우 기존의 전동 휠체어가 갖고 있는 운동 부족 등의 문제점을 해결할 수 있도록 고안된 휠체어이다. 본 논문에서는 이러한 힘 보조형 휠체어에 있어 사용자의 구동 의지력을 측정할 수 있는 센서를 제안하였고 이를 통해 사용자의 구동 의지력에 따른 휠체어 제어를 수행하였으며 이를 실험을 통해 검증하였다.

This paper deals with development of the driving-will control system in power-assisted electric wheelchair. Nowadays, population of elderly people has been increased rapidly, and also an electric wheelchair has been considered as the device for the elderly. Especially, power-assisted electric wheelchair can overcome problems that a conventional electric wheelchair holds, such as lack of movement of wheelchair user. In this paper, we propose the sensors system to measure the driving-will force and perform the control action for a power-assisted electric wheelchair. And motion performance of the proposed system is verified through the experiment.

키워드

참고문헌

  1. Rechard Simpson, Edmund LoPrestic, Steve Hayashi, and Illah Nourbakhsh, "The Smart Wheelchair Compoent System," Journal of Rehabilitation Research and Developement, Vol. 41, No 3B, pp.429-442, 2004. https://doi.org/10.1682/JRRD.2003.03.0032
  2. Sakiko Tashiro and Toshiyuki Murakami, "Step Passage Control of a Power-Assisted Wheelchair for a Caregiver," IEEE Transactions on Industrial Electronics, Vol. 55, No. 4, pp. 1715-1721, 2008. https://doi.org/10.1109/TIE.2008.917061
  3. Yasuhiro Nemoto, Saku Egawa, Atshshi Koseki, Shizuko Hattori, Takeshi Ishii, and Masakatsu Fujie, "Power-Assisted Walking Support System for Elderly," Int. Conf. of the IEEE Engineering in Medicine and Biology Society, Vol. 20, No. 5, pp. 2693-2695, 1998.
  4. Aaron Morris, Raghavendra Donamukkala, anuj Kapuria, Aaron Steinfeld, Judith T, Matthews, Jacqueline Dunbar-Jacob, and Sebastian Thrun, "A Robotic Walkier That Provides Guidance," Int. Conf. on Robotics and Automation, pp.25-30, 2003.
  5. J.S. Kong, D.K, Lee, Y.S. Nam, B.H. Lee, and E.H. Lee, "Optimized Walking Will Recognizing System of the Walking Aid with the Fuzzy Algorithm," Journal of Fuzzy Logic and Intelligent Systems, Vol. 18, No. 5, 2008.
  6. R. A. Cooper, T. A. Corfman, S. G. Fitzgerald, M. L. Boninger, D. M. Spaeth, W. Ammer, and J. Arva, "Performance Assessment of a Pushrim- activated Power-Assisted Wheelchair Control System," IEEE Trans. Control System Technology, Vol. 10, No. 1, pp. 121-126, 2002. https://doi.org/10.1109/87.974345
  7. Y. Takahashi, S. Ogawa, and S. Machida, "Front Wheel Raising and Inverse Pendulum Control of Power Assist Wheelchair Robot," In Proc. IEEE IEOCN, pp. 668-673, 1999.
  8. H. Seki and S. Tadakuma, "Straight and circular Road Driving Control for Power Assisted Wheelchair Based on Fuzzy Algorithm," IEEE IECON, pp. 3898-3903, 2006.
  9. Chung-Hsien Kuo, Jia-Wun Siao and Kuo-Wei Chiu, "Development of an Intelligent Powe Assisted Wheelchair Using Fuzzy Control Systems," Int. Conf. on Systems, Man and Cybernetics, pp. 2578-2583, 2008.
  10. Yuusuke Oonishi, Sehoon Oh, and Yoichi Hori, "A New Control Method for Power-Assisted Wheelchair Based on the Surface Myoeletric Signal," IEEE Trans. on Industrial Electronics, Vol. 57, No. 9, pp. 3191-3196, 2010. https://doi.org/10.1109/TIE.2010.2051931