• Journal of rehabilitation welfare engineering & assistive technology
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• v.5 no.1
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• pp.103-110
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• 2011

In this paper, we propose a gaze recognition interface for smart wheelchair. The gaze recognition interface is a user interface which recognize the commands using the gaze recognition and avoid the detected obstacles by sensing the distance through range sensors on the way to driving. Smart wheelchair is composed of gaze recognition and tracking module, user interface module, obstacle detector, motor control module, and range sensor module. The interface in this paper uses a camera with built-in infra red filter and 2 LED light sources to see what direction the pupils turn to and can send command codes to control the system, thus it doesn't need any correction process per each person. The results of the experiment showed that the proposed interface can control the system exactly by recognizing user's gaze direction.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.169-175
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• 2014

In this study, it is intended to provide a slip detector is an important function in the research on the slip control can be addressed uncontrollably path withdrawal might during driving of the power wheelchair, slip phenomenon occurs. By detecting and electric wheelchairs, the state of the motor during running, the detection of the slip, slip detection information calculated using an encoder that is connected to the left and right motor with six-axis IMU sensor for the electric wheelchair using an algorithm to calculate the slip ratio. Slip rate calculated in this way is used as control variable for improving the safety of the electric wheelchair. It was confirmed from the slip phenomenon of the path the proposed experiments slim detector proposed in this study. The maximum slip ratio detection zone during the experiment, can occur during turning of the electric wheelchair has been confirmed.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.983-984
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1245-1246
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• 2010

• Journal of IKEEE
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• v.26 no.4
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• pp.602-613
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• 2022

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.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.8
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• pp.992-999
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• 2011

The recent power add-on drive wheelchairs (PADWs) provide greater physical activity, are easier to transport, and may be an excellent alternative for the typical manual or electric wheelchairs. The development of in-wheel motor for a PADW is the principal issues. In this paper, design, implementation, and testing of the permanent magnet synchronous motor (PMSM) for a PADW are presented. To design output power and torque of the motor, the equation of motion has been investigated. The design parameters were calculated and the dimension and shape of the motor which was limited by the In-wheel mechanism of the PADW were done by applying FEM and optimal design technique. The prototype of the motor mentioned above was fabricated with precise machining and assembling. Then the motor tested on dynamometer and the measured results of the motor were verified by comparing the design results. The fabricated motor was 80 mm in length with a diameter of 110 mm and small enough to be attached the driving unit of the PADW.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.813-815
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• 2001

Permanent magnet DC motor is widely used in electrical tools, automotive manufacturing systems, electric vehicles, OA system drives, aircrafts and home appliances PM motors are suited for such an application, since they can be designed for high torque-to-speed ratio and efficiency. This paper deals with permanent magnet DC motor which is used in an electrical wheelchair. The motor has 6 PMs and 25 slots, and is coupled to the wheel with gears. In this study, motor design was carried out using finite element method. This paper discusses the design and construction of the prototype system and reports experimental results achieved from laboratory tests.

• Advances in Computational Design
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• v.5 no.4
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• pp.381-396
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• 2020

This study aimed to develop an optimal model of transportation for people with disabilities. To achieve this goal, powers of research and design should be involved, including CAD software. This paper investigates both: the concept of optimal model of transportation for people with disabilities (functional, ergonomic, constructive, technological and aesthetic solutions included); and its implementation as a fully-fledged 3D-model designed in SolidWorks environment. The optimal model of transportation is complex and consists of two objects. The first object is for indoors that is a wheelchair, the second one is for street driving that is an individual vehicle. The optimal model of transportation is universal and multifunctional, which have become possible with parametric feature-based approach utilized in SolidWorks.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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• pp.293-297
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• 2021

This paper presents how to create a 3D map and solve problems related to generating a global path planning for navigation. Map creation and localization were performed using the RTAB-Map package to create a 3D map of the environment. In addition, when the target point is within the obstacle space, the problem of not generating a global path was solved using the asr_navfn package. The performance of the proposed system is validated through experiments with a wheelchair-type robot.