[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.7471/ikeee.2022.26.4.602

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

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)

Publication Information

Journal of IKEEE / v.26, no.4, 2022 , pp. 602-613 More about this Journal

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.

Keywords

Stair Climbing; Stair Lift Platform; Caterpillar Track Platform; Wheelchair; Yawing Revision;

Citations & Related Records

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