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Institute of Korean Electrical and Electronics Engineers (한국전기전자학회)
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A Study on the Correction of Straight Driving of Wheelchair Assistive Device to Move the Stairs with Wheel Type Caterpillar and Seat Position Variable Structure

차륜형 캐터필러 및 좌석 위치 가변 구조를 갖는 휠체어 계단 이동 보조기기의 직진 주행 보정에 관한 연구

  • Su-Hong, Eom (Dept. of Electronics Engineering, Tech University of Korea) ;
  • Ji-An, Jung (Dept. of Fusion Energy Team(EnE2), DAWONSYS) ;
  • Won-Young, Lee (Dept. of Electronics Engineering, Tech University of Korea) ;
  • Jin-Woo, Sin (Dept. of Electronics Engineering, Tech University of Korea) ;
  • Eung-Hyuk, Lee (Dept. of Electronics Engineering, Tech University of Korea)
  • Received : 2022.12.09
  • Accepted : 2022.12.19
  • Published : 2022.12.31
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Abstract

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

본 논문은 차륜형 캐터필러 및 좌석 위치 가변 구조를 갖는 휠체어 계단 이동 보조기기의 구조에서 비롯되는 계단 이동 중 직진 주행 이탈 상황을 모델링 하고 추정 및 보정하는 알고리즘을 제안하였다. 주행 이탈 상황은 플랫폼의 Yawing 상황 모델 분석으로 주행 환경 특성상 Roll, Pitch와 Yaw 사이에 관계를 이용하여 Yaw값 변화 추이를 추정 하였으며, 차륜 구동 제어기의 제어변수 및 좌석 위치 제어 변수로 활용하였다. 정량적 검증 결과 약 10°의 Yawing 상황에서 약 7초 내외로 직진성 보정을 확인 하였으며, 좌석 위치 변화로 경로 보정간 회전 각속도를 47.5% 감소 시켜 직진성 보정에 효과가 있음을 확인 하였다.

Keywords

Acknowledgement

This research was supproted by a grant of Korea Health Technology R&D Project through the Korea Health Industry Development Institute(KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea (HJ20C0058) This research was supported by the MSIT(Ministry of Science and ICT), Korea, under the ITRC(Information Technology Research Center) support program(IITP-2022-2018-0-01426) supervised by the IITP(Institute for Information & Communications Technology Planning & Evaluation)

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